WO2024240087A1 - Control method and apparatus for cleaning robot, cleaning robot, and storage medium - Google Patents

Abstract

The present application provides a control method and apparatus for a cleaning robot, a cleaning robot, and a storage medium. The control method for the cleaning robot comprises: acquiring a target region, wherein a target object is located in the target region, and the target object is comprised in image data collected by the cleaning robot; on the basis of the target region, planning a first cleaning track and a second cleaning track, wherein the first cleaning track does not comprise the target region, and the second cleaning track comprises the target region; and on the basis of the first cleaning track and at least part of the second cleaning track, controlling the cleaning robot to execute a cleaning task. According to the present application, the cleaning task is executed by means of two different cleaning tracks, and it is guaranteed that the cleaning robot does not affect the activity of a user in a room in the process of executing the cleaning task, thereby improving the efficiency of cleaning the room by the cleaning robot.

Description

Control method and device of cleaning robot, cleaning robot and storage medium

This application claims priority to Chinese patent applications with application number "202310565986.6" filed on May 19, 2023, application name "Control method, device, cleaning robot and storage medium of cleaning robot" and application number "202310567146.3" filed on May 19, 2023, application name "Control method, device, readable storage medium and cleaning equipment of cleaning equipment", all contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the technical field of cleaning equipment, and in particular to a control method and device for a cleaning robot, a cleaning robot and a storage medium.

Background Art

With the development of intelligent cleaning technology, cleaning robots are entering more and more households, greatly reducing the labor of house cleaning.

In the related art, when a cleaning robot encounters an obstacle during the cleaning process, the cleaning robot usually bypasses the obstacle and continues to clean the room. When a person is doing certain activities in the room, the cleaning robot often avoids the person as an obstacle, which affects the cleaning efficiency and the normal activities of the person in the room.

Application Contents

The present application aims to solve one of the technical problems existing in the prior art or related technology.

To this end, the first aspect of the present application proposes a control method for a cleaning robot.

A second aspect of the present application proposes a control method for a cleaning robot.

The third aspect of the present application proposes a control method for a cleaning robot.

A fourth aspect of the present application provides a control device for a cleaning robot.

A fifth aspect of the present application proposes a control device for a cleaning robot.

The sixth aspect of the present application proposes a control device for a cleaning robot.

The seventh aspect of the present application proposes a control device for a cleaning robot.

An eighth aspect of the present application proposes a computer program product.

A ninth aspect of the present application proposes a readable storage medium.

The tenth aspect of the present application proposes a cleaning robot.

In view of this, according to the first aspect of the present application, a control method for a cleaning robot is proposed, including: acquiring a target area, a target object is in the target area, and the target object is included in the image data collected by the cleaning robot; based on the target area, planning a first cleaning trajectory and a second cleaning trajectory, the first cleaning trajectory does not include the target area, and the second cleaning trajectory includes the target area; based on the first cleaning trajectory and at least part of the second cleaning trajectory, controlling the cleaning robot to perform a cleaning task.

The technical solution of the present application proposes a control method for a cleaning robot, which is used to control the cleaning robot to re-plan the cleaning trajectory of the cleaning robot when it detects living things such as human bodies, so that the re-planned cleaning trajectory temporarily skips over areas where living things such as human bodies are located, and then re-sweeps the area. This enables the cleaning robot to intelligently identify areas where people are active, avoid such areas, and then re-sweep the areas where people are active, to ensure the integrity of the cleaning.

In this technical solution, the cleaning robot includes an image acquisition device. During the driving process of the cleaning robot, the image acquisition device is turned on to shoot the scene around the cleaning robot, and semantic recognition is performed on the captured image data. When the target object is identified in the image data, the cleaning robot determines the target area where the target object is located. Among them, the target object includes human body, pets, etc. The target area includes each room in the house. Specifically, after determining that there is a target object on the driving path of the cleaning robot through image recognition, the cleaning robot determines the current target area in combination with the semantic map. The cleaning robot can determine the operating scenario of the cleaning robot through the target object and the target area, and plan the first cleaning trajectory currently cleaned by the cleaning robot and the second cleaning trajectory for subsequent supplementary sweeping based on the operating scenario, and determine the preset time interval between two cleanings.

It should be noted that when the cleaning robot performs supplementary cleaning along the second cleaning trajectory, it may only perform cleaning along a portion of the second cleaning trajectory, that is, the cleaning robot may perform supplementary cleaning on the target area in regions and batches.

Specifically, the first cleaning trajectory is the driving trajectory of the cleaning robot when performing a cleaning task, that is, the driving trajectory of the cleaning robot when the cleaning component is turned on. The first cleaning trajectory is used to clean other areas except the target area. It should be noted that when the cleaning robot performs a cleaning task according to the first cleaning trajectory, the cleaning robot may need to pass through the target area. When passing through the target area, the cleaning robot stops cleaning the target area, passes through the target area by the shortest path, and continues to clean according to the first cleaning trajectory.

The second cleaning trajectory is the driving trajectory of the cleaning robot to clean the target area. It should be noted that when the cleaning robot performs the second cleaning task according to the second cleaning trajectory, it may pass through non-target areas, but the cleaning components will not be turned on in the non-target areas. Therefore, it is determined that the second cleaning trajectory only includes the target area, that is, the cleaning robot only cleans the target area when moving along the second cleaning trajectory.

In the technical solution of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and plans a first cleaning trajectory of the cleaning robot based on the target area, and plans a second cleaning trajectory for re-sweeping the target area. Cleaning tasks are performed by two different cleaning trajectories, which ensures that the cleaning robot will not affect the user's activities in the room during the execution of the cleaning task, and improves the efficiency of the cleaning robot in cleaning the room.

According to the second aspect of the present application, a control method for a cleaning robot is proposed, including: acquiring a target area, a target object is in the target area, and the target object is included in image data collected by the cleaning robot; based on the target area, controlling the cleaning robot to clean according to a first cleaning trajectory, and the first cleaning trajectory does not include the target area; when the cleaning robot completes at least part of the first cleaning trajectory, controlling the cleaning robot to clean according to a second cleaning trajectory, and the second cleaning trajectory includes the target area.

The technical solution of the present application proposes a control method for a cleaning robot, which is used to control the cleaning robot to re-plan the first cleaning trajectory and the second cleaning trajectory of the cleaning robot when a living thing such as a human body is detected. The first cleaning trajectory temporarily skips the target area where the living thing such as a human body is located, and after at least part of the first cleaning trajectory is completed, the cleaning is performed according to the second cleaning trajectory including the target area to complete the re-scanning of the target area, so that the cleaning robot can intelligently identify the target area where people are active, avoid the target area, and then re-scan the target area where people are active to ensure the integrity of the cleaning.

In this technical solution, the cleaning robot includes an image acquisition device. When the cleaning robot is driving, the image acquisition device is turned on to shoot the scene around the cleaning robot, and semantic recognition is performed on the captured image data. When the target object is identified in the image data, the cleaning robot determines the target area where the target object is located. The target object includes human body, pets, etc. The target area includes each room in the house.

Specifically, the first cleaning trajectory is the driving trajectory of the cleaning robot to clean the non-target area, and the first cleaning trajectory is used to clean other areas except the target area. The second cleaning trajectory is the driving trajectory of the cleaning robot to clean the target area.

In the technical solution of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and preferentially cleans the non-target area through the first cleaning trajectory. After completing at least part of the cleaning along the first cleaning trajectory, it then performs cleaning based on the second cleaning trajectory.

The first cleaning trajectory of the cleaning robot is planned based on the target area, and a second cleaning trajectory is planned for supplementary cleaning of the target area. The cleaning task is performed by two different cleaning trajectories, which ensures that the cleaning robot will not affect the user's activities in the room during the cleaning task and improves the efficiency of the cleaning robot in cleaning the room.

In the above technical solution, when the image data collected by the cleaning robot includes the target object, the target area where the target object is located is determined, including: determining the first sub-map of the target object in the semantic map based on the semantic map and image data of the cleaning robot; and determining the area corresponding to the first sub-map as the target area.

The technical solution proposes a specific process for determining a target area in a room, thereby improving the accuracy of the determined target area.

The cleaning robot can construct a semantic map of the house during operation, and the semantic map includes multiple sub-maps, each of which corresponds to a room in the house. When the cleaning robot recognizes that the image data includes a target object, it determines the room where the target object in the image data is located based on the semantic map, and determines the first sub-map corresponding to the room as the target area.

It should be noted that the cleaning robots plan their cleaning trajectories based on the semantic maps pre-stored in the cleaning robots, so the first sub-map in the semantic map is selected as the target area to facilitate the subsequent planning of the cleaning trajectory of the cleaning robots.

In the technical solution of the present application, the first sub-map in the semantic map is determined as the target area through image data, which can ensure the accuracy of identifying the target area and improve the convenience of subsequent planning of the cleaning trajectory of the cleaning robot.

In any of the above technical solutions, the cleaning task includes a first cleaning task and a second cleaning task; based on the first cleaning trajectory and at least part of the second cleaning trajectory, the cleaning robot is controlled to perform the cleaning task, including: when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, the cleaning robot is controlled to perform the second cleaning task according to at least part of the second cleaning trajectory.

In this technical solution, after completing the first cleaning task, the cleaning robot continues to detect whether the target area meets the preset conditions. When it is detected that the target area meets the preset conditions, it determines that it can start executing the second cleaning task to re-sweep the target area, thereby ensuring that the cleaning robot will not affect the target object in the target area when performing the re-sweep.

In the technical solution of the present application, the first cleaning task is that the cleaning robot cleans according to the first cleaning trajectory, that is, the cleaning robot currently cleans the non-target area. The second cleaning task is that the cleaning robot cleans according to the second cleaning trajectory, that is, the cleaning robot cleans the target area.

Specifically, when the cleaning robot is executing the first cleaning task, it continuously detects the target area through the collected image data, and when the target area meets the preset conditions, it starts to execute the second cleaning task to re-scan the target area.

In the technical solution of the present application, the cleaning robot can not only plan the corresponding first cleaning trajectory and the second cleaning trajectory based on the target area, but also determine whether it can start to re-scan the target area according to the second cleaning trajectory based on whether the target area meets the preset conditions, while ensuring the timeliness of the re-scanning and avoiding the impact of the re-scanning on the target object in the target area.

In any of the above technical solutions, the first cleaning task includes: when the cleaning robot is driving along the first cleaning trajectory, based on the cleaning robot driving in the non-target area, controlling the operation of the cleaning component of the cleaning robot; the second cleaning task includes: when the cleaning robot is driving along at least part of the second cleaning trajectory, based on the cleaning robot driving in the target area, controlling the operation of the cleaning component of the cleaning robot.

The technical solution proposes a specific process in which the cleaning robot performs the corresponding first cleaning task and the second cleaning task through the first cleaning trajectory. Among them, the first cleaning task includes the cleaning robot driving along the first cleaning trajectory, turning on the cleaning component for cleaning when it does not pass through the target area, and turning off the cleaning component when it passes through the target area. The cleaning robot performs the first cleaning task to ensure the effect of cleaning the non-target area and avoid affecting the user in the target area. Among them, the second cleaning task includes the cleaning robot driving along the second cleaning trajectory, turning off the cleaning component when it does not pass through the target area, and turning on the cleaning component for cleaning when it passes through the target area. The cleaning robot performs the second cleaning task to ensure the effect of cleaning the target area and avoid wasting electricity by performing a second cleaning on the cleaned area.

Specifically, during the cleaning process according to the first cleaning trajectory, since the target area may be located between two non-target areas, when moving from one non-target area to another non-target area, the cleaning robot needs to be navigated to pass through the target area, and the cleaning component is controlled to stop running when passing through the target area to avoid the noise generated during the cleaning process affecting the user's activities in the area.

It should be noted that, when planning the first cleaning trajectory, if it is detected that the cleaning robot must pass through the target area, the shortest path through the target area is planned as the path of the first cleaning trajectory passing through the target area.

In this technical solution, when the cleaning robot performs the first cleaning task, the cleaning robot needs to move along the first cleaning trajectory, and stop the operation of the cleaning component when passing through the target area. When planning the first cleaning trajectory, the cleaning robot plans based on the semantic map. Identify the first submap corresponding to the target area and the second submap corresponding to the non-target area, and then plan the first cleaning trajectory according to the positional relationship between the first submap and the second submap, to ensure that the part of the first cleaning trajectory that passes through the first submap is the shortest path.

In the technical solution of the present application, when the cleaning robot performs the first cleaning task and the second cleaning task, the cleaning robot cleans the area that needs to be cleaned and avoids the area that does not need to be cleaned, trying to ensure that it does not pass through the area that does not need to be cleaned. If the area that does not need to be cleaned cannot be avoided, the operation of the cleaning component is stopped to reduce the impact on users in the target area. It can also ensure the cleaning effect of the non-target area after the cleaning robot performs the first cleaning task.

In any of the above technical solutions, after the cleaning robot completes the first cleaning task according to the first cleaning trajectory, the method further includes:

Determine a secondary cleaning area in a non-target area according to a first image acquired by the cleaning robot during the execution of a first cleaning task, wherein the first image is an image of the non-target area;

Based on the secondary cleaning area, the second cleaning trajectory is updated so that the second cleaning trajectory includes the target area and the secondary cleaning area.

The technical solution proposes that when the cleaning robot performs the first cleaning task according to the first cleaning trajectory, it continuously collects the first image corresponding to the non-target area, and through the analysis of the first image, it can determine the secondary cleaning area that needs to be re-scanned in the non-target area after cleaning by the first cleaning trajectory. Then, based on the determined secondary cleaning area, the second cleaning trajectory is re-planned to ensure that when the cleaning robot performs cleaning according to the second cleaning trajectory, it can clean both the target area and the secondary cleaning area.

Specifically, the secondary cleaning area may be an area in the non-target area that is not completely cleaned, that is, when the cleaning robot performs cleaning according to the first cleaning track, it determines through the first image that there is an area that is not completely cleaned, and determines the area as the secondary cleaning area.

In the technical solution of the present application, the cleaning robot can continuously detect the secondary cleaning area in the non-target area passed by the first cleaning trajectory while cleaning according to the first cleaning trajectory, and can update the second cleaning trajectory based on the secondary cleaning area, further ensuring the cleaning effect of the cleaning robot when performing supplementary cleaning through the second cleaning trajectory.

In any of the above technical solutions, the preset conditions include: the time after the first cleaning task is completed reaches a preset time; and/or the target object leaves the target area.

The technical solution proposes a preset condition for the cleaning robot to determine whether to start a second cleaning task to re-sweep the target area after completing the first cleaning task. The preset condition includes that the time after the first cleaning task is completed reaches a preset time.

This technical solution proposes that before the cleaning robot performs the second cleaning task to re-sweep the target area, a preset time duration needs to be determined. That is, it is ensured that the cleaning robot starts to perform the second cleaning task to re-sweep the target area after the preset time duration of completing the first cleaning task, so as to avoid premature re-sweeping affecting users in the target area.

It should be noted that the preset duration may be a duration set by the user according to actual needs, or may be a preset duration obtained by the cleaning robot through analysis of the target area and collected image data.

Specifically, after the cleaning robot plans the first cleaning trajectory and the second cleaning trajectory based on the image data and the semantic map, the cleaning robot obtains the preset duration between the first cleaning task and the second cleaning task. When the cleaning robot completes the first cleaning task based on the first cleaning trajectory, the cleaning robot returns to the station and starts timing. After the timing reaches the preset duration, the cleaning robot leaves the station and starts to perform the second cleaning task based on the second cleaning trajectory.

It should be noted that the preset time interval between two cleaning tasks is consistent with the target object and target area identified by the cleaning robot. Off, that is, the cleaning robot can plan the preset duration based on the target object and target area.

The preset condition includes that the time after the first cleaning task is completed reaches the preset time. The preset condition includes that the target object leaves the target area.

In this technical solution, the cleaning robot continuously collects image data of the target area when executing the first cleaning task stage, and performs image recognition on the collected image data, thereby being able to determine whether the target object has left the target area.

In the technical solution of the present application, the cleaning robot can accurately determine whether the cleaning robot can start re-sweeping according to the second cleaning trajectory by judging whether the time after the completion of the first cleaning task reaches a preset time and/or judging whether the target object has left the target area. This ensures that the cleaning robot can re-sweep the target area in a timely manner while avoiding the impact of inappropriate timing of the cleaning robot's re-sweeping on the user.

In any of the above technical solutions, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: determining a preset time duration based on the area category corresponding to the target area in the semantic map of the cleaning robot, wherein the area category includes one of the kitchen area, bedroom area, living room area, washroom area, and office area.

This technical solution provides a cleaning robot that can determine the area category of the target area based on the semantic information of the target area in the semantic map, and accordingly determine the preset time interval for re-sweeping the target area, so that the preset time interval matches the current actual scene.

It should be noted that the area categories are not limited to the above, and can also be customized by the user, for example: setting living room 1, living room 2, dining room 1, dining room 2, shower room, toilet, etc.

In the embodiment of the present application, by limiting the specific content of the area category, it is ensured that the area category of the target area can be identified, and the preset duration of the corresponding interval can be accurately determined according to the area category.

It should be noted that the cleaning robot has a pre-stored mapping relationship between the area category and the preset duration. After determining the area category, the cleaning robot can find the corresponding preset duration through the mapping relationship. The user can also set the mapping relationship according to actual needs to ensure that the preset duration found according to the area category meets the user's needs. Among them, the preset area category can correspond to multiple preset durations, and each preset duration is associated with other judgment conditions, such as: the current time, etc.

In the technical solution of the present application, after identifying the target area, the cleaning robot can determine the specific area category corresponding to the target area through the semantic map, and determine the preset duration of the corresponding interval based on the area category, to ensure that the re-sweeping process matches the actual application scenario of the cleaning robot.

In any of the above technical solutions, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: identifying target features in the image data; determining a preset time duration based on the posture and/or parameters of the target features, wherein the target features include one of door features, window features, and household appliance features.

In this technical solution, it is proposed that the cleaning robot identifies the posture and/or parameters of the target feature in the image data, and searches for the corresponding preset time duration based on the posture and/or parameters.

In the technical solution of this application, the posture of the target feature includes but is not limited to the opening and closing posture of the door, the opening and closing posture of the window, the placement posture of the home appliance, etc. The parameters of the target feature include but are not limited to the size parameters of the door, the size parameters of the window, the size parameters and operation parameters of the home appliance, etc.

Specifically, after the cleaning robot identifies the target object, it identifies the background area in the image data. When it is identified that the image data also includes target features, it detects the posture and/or parameters of the target features and selects different preset durations based on different postures. It should be noted that the target object is a living object in the image data, such as a pet, a human body, etc. The target feature is an object feature in the image data, such as a door, a window, a household appliance, etc.

In the technical solution of the present application, the cleaning robot can analyze the actual scene in which the cleaning robot is located through the posture and/or parameters of the target features in the collected image data, and set the preset duration of the corresponding interval accordingly, so as to ensure the success rate of the cleaning robot when performing the second cleaning task of make-up sweeping, and avoid the make-up sweeping process from having an adverse effect on users in the target area.

In any of the above technical solutions, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: acquiring a second image corresponding to the target area; and determining whether the target object leaves the target area based on the second image.

This technical solution proposes that before the cleaning robot performs supplementary scanning along the second cleaning trajectory, it collects a second image corresponding to the target area through an image acquisition device, performs image recognition on the second image, and determines whether the target object has left the target area, thereby achieving accurate control of whether the cleaning robot starts to perform supplementary scanning.

In any of the above technical solutions, before acquiring the target area, the method includes: controlling an image acquisition device of the cleaning robot to continuously acquire image data while the cleaning robot is performing the third cleaning task according to the third cleaning trajectory.

In the technical solution, it is proposed that the cleaning robot performs the corresponding third cleaning task according to the preset third cleaning trajectory after leaving the station. The image acquisition device is turned on to continuously acquire image data, so as to facilitate the subsequent re-planning of the corresponding first cleaning trajectory and the second cleaning trajectory for supplementary scanning based on the acquired image data including the target object.

Specifically, before the cleaning robot leaves the station to perform the third cleaning task, it plans the corresponding third cleaning trajectory based on the pre-stored semantic map, and the third cleaning trajectory can be a trajectory for cleaning the whole house. After the cleaning robot leaves the station, the cleaning robot turns on the image acquisition device and keeps acquiring images of the surrounding environment. After acquiring image data including the target object, it promptly plans the first cleaning trajectory and the second cleaning trajectory, stops running the current third cleaning trajectory, cleans the house according to the first cleaning trajectory, and after the cleaning is completed for a preset time, re-sweeps the house according to the second cleaning trajectory.

In the technical solution of the present application, by controlling the cleaning robot to keep the image acquisition device turned on after leaving the station, the cleaning robot can obtain the current surrounding environment in a timely manner, thereby improving the efficiency of re-planning the first cleaning trajectory.

According to the third aspect of the present application, a control method for a cleaning robot is proposed, comprising: when the image data collected by the cleaning robot includes the target object, determining the first area of the target object in the map; obtaining the operating status of the target device corresponding to the first area; after the cleaning robot completes cleaning the second area in the map, controlling the cleaning robot to clean the first area based on the operating status of the target device.

The technical solution of the present application proposes a control method for a cleaning robot, through which the cleaning robot can be controlled to identify the first area where the target object is located, and re-plan the current cleaning trajectory, so that the cleaning robot temporarily avoids the first area where the target object is active, and plans the subsequent re-sweeping path for the first area. The cleaning robot can also interact with other household devices to identify the user's activity status in the first area, so as to choose whether to start re-sweeping the first area, so as to avoid the cleaning robot still having an adverse effect on the user during the re-sweeping.

In this technical solution, the cleaning robot includes an image acquisition device. When the cleaning robot is driving, the image acquisition device is turned on to photograph the scene around the cleaning robot, and semantic recognition is performed on the photographed image data. When the target object is identified in the image data, the cleaning robot can determine the first area where the target object is located in combination with the map.

It should be noted that the target object includes a human body, a pet, etc. The map includes multiple areas, each of which corresponds to a room in a house. When the cleaning robot recognizes that the image data includes the target object, it determines a first area corresponding to the area where the target object in the image data is located based on the map.

In this technical solution, the cleaning robot is connected to multiple other household appliances in communication, and the cleaning robot can obtain the positioning information of other household appliances connected to it. After determining the first area where the target object is located, the cleaning robot can find the target device located in the area where the first area is located, and the target device is one of the multiple other household appliances connected to the cleaning robot. By exchanging data with the target device, the operating status of the target device is obtained, and based on the operating status of the target device, it is determined whether to start re-sweeping the first area. The cleaning robot can estimate whether the user has left the first area based on the operating status of the target device in the area corresponding to the first area, and ensure that after the cleaning robot starts re-sweeping, the re-sweeping process will not have an adverse effect on the user's activities in the area.

It should be noted that the target object can be a human body, or a living creature such as a pet dog or cat.

In this technical solution, after finding the first area, the cleaning robot can also use the remaining areas in the map as the second area and re-plan the current cleaning trajectory based on the second area. The cleaning robot starts to clean the second area according to the re-planned cleaning trajectory, and after the cleaning is completed, the cleaning robot is controlled to re-sweep the corresponding area of the first area based on the operating status of the target device.

In the technical solution of the present application, the cleaning robot detects the target object by means of image recognition during driving, and determines the first area corresponding to the area where the target object is located, and determines whether to start re-scanning the first area through the operating status of the target device in the first area, so that the cleaning robot can judge and estimate the current operating scenario through the Internet of Things, and realizes that the cleaning robot can avoid the area where the first area is located in the current cleaning stage, thereby preventing the current cleaning process from affecting the user, and can also perform timely re-scanning of the uncleaned area in the future, and can ensure that the re-scanning stage will not have an adverse effect on the user's activities.

In the above technical solution, after the cleaning robot completes cleaning the second area in the map, based on the operating status of the target device, the cleaning robot is controlled to clean the first area, including: determining a preset time based on the operating status of the target device; after the cleaning robot completes cleaning the second area, the cleaning robot is controlled to clean the first area at an interval of a target time, the target time is associated with the preset time and the cleaning time, and the cleaning time is the time the cleaning robot cleans the second area.

This technical solution proposes that the cleaning robot can determine the target duration of the interval between the current cleaning phase and the re-sweeping phase according to the operating status of the target device in the first area. While ensuring the timeliness of the re-sweeping of the first area, it can also avoid the impact of the re-sweeping phase on the activities of the target object in the first area.

In the technical solution of the present application, the preset duration matches the operating state of the target device, and the corresponding preset duration can be found based on the operating state of the target device by looking up a table. The target duration is the actual interval duration required after the cleaning robot completes cleaning the second area. Since the cleaning robot needs to take a certain cleaning time to clean the second area, the target duration is the duration calculated based on the preset duration and the cleaning duration.

In the technical solution of the present application, a plurality of first devices in the map are screened through the first area in the map to determine the target device therein, thereby ensuring the matching of the target device with the first area. After determining the target device, the cleaning robot communicates with the target device to determine the operating status of the target device. The corresponding preset duration is determined according to the operating status, and the target duration is set in combination with the cleaning duration of the cleaning robot to clean the second area, thereby improving the matching degree between the target duration determined for the supplementary sweep and the operating status of the target device corresponding to the first area, and ensuring that the cleaning robot supplements the sweep of the first area after the target duration has passed without affecting the user.

In any of the above technical solutions, after the cleaning robot completes cleaning the second area, before controlling the cleaning robot to clean the first area after a target time, it includes: when the cleaning time is greater than or equal to the preset time, determining the target time as 0; when the cleaning time is less than the preset time, determining the difference between the preset time and the cleaning time as the target time.

In this technical solution, the cleaning time required for the cleaning robot to clean the second area is compared with the preset time, and based on the numerical relationship between the cleaning time obtained by the comparison and the preset time, a target time corresponding to the required interval is set to ensure the timeliness of the cleaning robot's re-sweeping and avoid the impact of the cleaning robot on the user during the re-sweeping stage.

Specifically, the preset duration is T1, and the cleaning duration is T2. When T2≥T1, it is determined that after the cleaning robot completes cleaning the second area, it will not cause adverse effects on the user if it immediately re-sweeps the first area, so the target duration of the required interval is set to 0, that is, the cleaning robot immediately re-sweeps the first area after completing cleaning the second area. When T2＜T1, in order to avoid the re-sweeping stage affecting the user, it is determined that after the cleaning robot completes cleaning the second area, it still needs to wait for a certain period of time before starting to re-sweep the first area. By calculating the difference T=T1-T2, and taking the difference T as the target duration, the cleaning robot re-sweeps the first area after completing cleaning the second area and after the target duration T.

Among them, the cleaning time is obtained by timing during the operation of the cleaning robot.

In the technical solution of the present application, the cleaning robot can accurately determine the target time required for the cleaning robot to complete cleaning of the second area by comparing the cleaning time corresponding to the second area with the preset time, thereby ensuring that re-cleaning of the second area after the target time will not affect the user and improving the timeliness of the re-cleaning.

In any of the above technical solutions, the preset duration is determined based on the operating status of the target device, including: locating multiple first devices that match the map; filtering the target device from the multiple first devices through the first area; obtaining the operating status of the target device; and determining the preset duration based on the corresponding relationship between the operating status of the target device and the preset.

This technical solution proposes a specific process of searching for a corresponding target device based on a map and setting a preset duration based on the operating status of the target device.

Specifically, the cleaning robot obtains the positioning information of other household devices. Based on the positioning information, the cleaning robot can find multiple first devices within the map range, that is, the coordinates of the multiple first devices are all inside the map. The cleaning robot can determine the target device among the multiple first devices through the range of the first area in the map, that is, the coordinates of the target device are located inside the first area. Due to the communication connection between the cleaning robot and the target device, the cleaning robot can obtain the operating status of the target device. The cleaning robot pre-stores a preset correspondence between the target device and the preset time length. After determining the target device, the cleaning robot can obtain the corresponding preset time length by searching for the preset correspondence.

In some possible implementations, the cleaning robot obtains the positioning information of other household appliances, including: during the process of building a map, the cleaning robot builds an object bounding box of other household appliances, that is, the coordinate information of other household appliances is stored in the map, and the coordinate information of other household appliances is read and the read coordinate information is used as the positioning information.

In some other possible implementations, the cleaning robot obtains the positioning information of other household appliances, including: the cleaning robot is communicatively connected with the other household appliances, the other household appliances have a positioning function, and the cleaning robot reads the positioning information of the other household appliances by communicating with the other household appliances.

In the technical solution of the present application, a plurality of first devices in the map are screened through the first area in the map, thereby determining the target device therein, and ensuring the matching of the target device with the first area. After determining the target device, the cleaning robot communicates with the target device to determine the operating status of the target device, and sets a preset duration accordingly, thereby improving the matching degree between the preset duration determined for the supplementary sweep and the operating status of the target device corresponding to the first area, and ensuring that the cleaning robot supplements the sweep of the first area after the preset duration, without affecting the user.

In any of the above technical solutions, the number of target devices is at least two; the preset duration is determined based on the operating status of the target device and the preset correspondence, including: obtaining the operating status and preset correspondence of at least two target devices, and determining at least two interval durations; determining the preset duration based on at least two interval durations.

This technical solution proposes that when a first area includes multiple target devices, the cleaning robot sets corresponding preset durations according to multiple interval durations corresponding to the multiple target devices, thereby further improving the degree of matching between the set preset duration and the actual scene.

Specifically, when the first area includes multiple target devices, the interval duration corresponding to each target device is searched through a preset corresponding relationship to obtain multiple interval durations. After obtaining multiple interval durations, multiple interval durations can be selected by screening. One of the interval durations can be used as the preset duration, or a corresponding preset duration can be obtained by performing mathematical calculation on multiple interval durations.

In the technical solution of the present application, when there are multiple target devices corresponding to the first area, the cleaning robot can comprehensively determine the corresponding preset duration according to the interval durations corresponding to the multiple target devices, thereby further improving the degree of matching between the preset duration and the actual scene of the first area.

In any of the above technical solutions, the preset duration is an average value of at least two interval durations; or the preset duration is a maximum value of at least two interval durations; or the preset duration is a minimum value of at least two interval durations.

The technical solution proposes multiple ways to determine the preset duration based on multiple interval durations. This includes calculating the average value of multiple interval durations and using the calculated average value as the preset duration. This also includes taking the maximum or minimum value among the multiple interval durations and using the maximum or minimum value as the preset duration.

Optionally, the user can select any of the above methods according to actual needs and determine the preset duration from multiple interval durations.

Optionally, the cleaning robot selects any of the above methods based on the first area category to determine a preset duration from multiple interval durations, that is, the preset duration is determined according to the area category corresponding to the first area and the multiple interval durations, and the preset duration includes: any one of the maximum value, minimum value or average value of the multiple interval durations. The area category includes: at least one of the living room area, kitchen area, and bedroom area.

In the technical solution of the present application, by setting the preset duration to the maximum value, minimum value or average value among multiple interval durations, it can further ensure that the preset duration matches the actual scene of the area corresponding to the first area, thereby ensuring the timeliness of re-scanning the area while avoiding adverse effects on users during re-scanning.

In any of the above technical solutions, after the cleaning robot completes cleaning the second area in the map, based on the operating status of the target device, the cleaning robot is controlled to clean the first area, including: after the cleaning robot completes cleaning the second area, based on the operating status of the target device, determining the activity status of the target object in the first area; based on the activity status of the target object in the first area meeting a preset condition, controlling the cleaning robot to clean the first area.

The technical solution proposes that after the cleaning robot completes cleaning the second area, it continuously obtains the operating status of the target device in the first area, and determines whether the current supplementary sweep will have an impact on the target object in the first area. If the cleaning robot determines that the supplementary sweep will not affect the target object at this time, the cleaning robot is controlled to start supplementary sweeping of the first area.

In the technical solution of the present application, the cleaning robot can determine the activity state of the target object according to the operating state of the target device. Specifically, the cleaning robot can find the activity state of the target object based on the operating state of the target device according to a preset mapping relationship. Exemplarily, the preset mapping relationship can be stored in the local storage area of the cleaning robot or in the cloud.

In the technical solution of the present application, when the first area includes multiple target devices, the activity state of the target object is determined according to the operating states of the multiple target devices, and the accuracy of determining the activity state of the target object can be improved by fully combining the operating states of multiple different devices. Among them, the activity state meets the preset state, including but not limited to the target object leaving the first area.

In the technical solution of the present application, the cleaning robot can judge the activity state of the target object according to the operating state of the target device, and judge whether to start re-sweeping the first area accordingly, so that the cleaning robot can quickly re-sweep the first area after the target object leaves the first area, ensuring the timeliness of the re-sweeping and avoiding the impact of the re-sweeping on the target object in the first area.

In any of the above technical solutions, after the cleaning robot completes cleaning the second area in the map, based on the operating status of the target device, before controlling the cleaning robot to clean the first area, it includes: planning a fourth cleaning trajectory based on the second area; controlling the cleaning robot to travel along the fourth cleaning trajectory.

The technical solution provides a specific process for the cleaning robot to clean the second area, including planning a fourth cleaning track according to the second area in the map, driving the cleaning robot to travel along the planned fourth cleaning track, and the operating state of the cleaning component of the cleaning robot during driving, so as to ensure that the cleaning component is turned off when the cleaning robot passes through the first area to avoid affecting the user's activities in the first area.

Specifically, during the cleaning process according to the fourth cleaning trajectory, since the first area may be located between two second areas, when moving from one of the second areas to another second area, the cleaning robot needs to be navigated to pass through the first area, and the cleaning component is controlled to stop running when passing through the first area to avoid the noise generated during the cleaning process affecting the user's activities in the area, and the cleaning component is operated when the cleaning robot passes through the second area to clean the second area.

It should be noted that, when planning the fourth cleaning trajectory, if it is detected that the cleaning robot must pass through the first area, the shortest path through the first area is planned as the path of the fourth cleaning trajectory passing through the first area.

In the technical solution of the present application, when the cleaning robot passes through the second area, the cleaning component is kept in an on state to ensure that the cleaning robot can normally clean the second area in the house.

In any of the above technical solutions, controlling the cleaning robot to clean according to the fourth cleaning trajectory includes: the fourth cleaning trajectory includes the first area and the second area, when the cleaning robot travels in the first area, controlling the cleaning component of the cleaning robot to stop running, and when the cleaning robot travels in the second area, controlling the cleaning component to run; the fourth cleaning trajectory includes the second area and does not include the first area, During the process of controlling the cleaning robot to travel along the fourth cleaning trajectory, the cleaning component is kept in an operating state.

The technical solution proposes that when the fourth cleaning trajectory planned by the cleaning robot passes through the first area and the second area, the cleaning robot turns off the cleaning component when driving in the first area, and only uses the cleaning component to clean the second area. The fourth cleaning trajectory planned by the cleaning robot only passes through the second area, and when the cleaning robot cleans according to the fourth cleaning trajectory, the cleaning component is kept running, so as to clean the second area.

Specifically, when planning the fourth cleaning trajectory, the cleaning robot determines that the fourth cleaning trajectory passes through the first area, that is, to ensure the completeness of cleaning the second area, when it cannot avoid the first area, the shortest path passing through the first area is planned. During the actual cleaning process of the cleaning robot, when passing through the first area, the cleaning component is turned off to avoid the noise generated by the cleaning component from affecting the user.

In the technical solution of the present application, the cleaning robot cleans the second area and avoids the location of the first area, trying not to pass through the first area. If the first area cannot be avoided, the operation of the cleaning component is stopped to reduce the impact on users in the first area while ensuring the cleaning effect of the cleaning robot on the second area.

In any of the above technical solutions, the target device includes at least one of an electric rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, a hair dryer, and a washing machine.

The technical solution proposes that the target devices include: at least one of an electric rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, a hair dryer, and a washing machine, that is, all smart IoT home devices can be used as target devices to communicate with the cleaning robot.

It should be noted that the cleaning robot can simply identify the user's activity scene in the corresponding area based on different target devices in different operating states, and set the corresponding target time.

In the technical solution of the present application, by setting different types of equipment as target devices, the accuracy of the target time determined by the target device can be improved, ensuring that after the target time of cleaning the second area is completed, when the first area is cleaned, it will not affect the activities of people in the first area.

In any of the above technical solutions, when the image data collected by the cleaning robot includes the target object, before determining that the target object is in the first area in the map, it includes: planning a fifth cleaning trajectory based on the map; controlling the cleaning robot to clean according to the fifth cleaning trajectory; and during the cleaning process of the cleaning robot, controlling the image acquisition device of the cleaning robot to continuously collect image data.

This technical solution proposes that when the cleaning robot cleans according to the preset fifth cleaning trajectory after leaving the station, the image acquisition device is turned on to continuously acquire image data, so as to facilitate the subsequent re-planning of the corresponding fourth cleaning trajectory and the fifth cleaning trajectory for supplementary cleaning based on the acquired image data including the target object.

Specifically, before the cleaning robot leaves the station to clean according to the preset fifth cleaning track, it plans the corresponding fifth cleaning track based on the pre-stored map, and the fifth cleaning track can be a track for cleaning the whole house. After the cleaning robot leaves the station, the cleaning robot turns on the image acquisition device and keeps acquiring images of the surrounding environment. After acquiring image data including the target object, it promptly plans the fourth cleaning track and the fifth cleaning track, stops running the current fifth cleaning track, cleans the house according to the fourth cleaning track, and after the preset cleaning time is completed, re-sweeps the house according to the fifth cleaning track.

In the technical solution of the present application, by controlling the cleaning robot to keep the image acquisition device turned on after leaving the station, the cleaning robot can obtain the current surrounding environment in a timely manner, thereby improving the efficiency of re-planning the fourth cleaning trajectory.

In any of the above technical solutions, planning the fifth cleaning trajectory based on the map includes: obtaining positioning information of a second device in the map, where the second device is a household device in operation; and planning the fifth cleaning trajectory according to the positioning information.

This technical solution proposes that the cleaning robot plans the fifth cleaning trajectory based on the positioning information of the household appliances in operation in the map before leaving the station, so that the operating status of the household appliances in the house is fully considered before cleaning begins, thereby reducing the number of times the cleaning robot replans the path after leaving the station.

Specifically, when the cleaning robot is not leaving the station, it communicates with the household devices in the map to obtain the operating status of all household devices in the map. It finds the second device in operation and plans the fifth cleaning trajectory based on the positioning information of the second device. The cleaning robot can estimate the user's activity range and activity time in the house based on the positioning information of the second device, so as to plan the fifth cleaning trajectory so that the fifth cleaning trajectory can avoid the user's activity range and reduce the probability of temporary re-planning of the fourth cleaning trajectory later.

In the technical solution of the present application, the cleaning robot plans the fifth cleaning trajectory through the positioning information of the second device in operation without leaving the station, thereby reducing the possibility of the cleaning robot re-planning the path during the cleaning process.

In any of the above technical solutions, the map includes any of the following: a semantic map, an image map.

In this technical solution, the map stored in the sweeping machine can be a semantic map or an image map.

In the technical solution of the present application, by setting the map as a semantic map or an image map, the accuracy of the cleaning trajectory automatically planned by the sweeper can be improved, thereby ensuring the cleaning effect and cleaning efficiency of the sweeper when cleaning the house based on the map.

According to the fourth aspect of the present application, a control device for a cleaning robot is proposed, including: an acquisition module, used to acquire a target area, a target object is in the target area, and the target object is included in the image data collected by the cleaning robot; a planning module, used to plan a first cleaning trajectory and a second cleaning trajectory based on the target area, the first cleaning trajectory does not include the target area, and the second cleaning trajectory includes the target area; a control module, used to control the cleaning robot to perform a cleaning task based on the first cleaning trajectory and at least part of the second cleaning trajectory.

The technical solution of the present application proposes a control device for a cleaning robot, which is used to control the cleaning robot to re-plan the cleaning trajectory of the cleaning robot when it detects living things such as human bodies, so that the re-planned cleaning trajectory temporarily skips over areas where living things such as human bodies are located, and then re-sweeps the area. This enables the cleaning robot to intelligently identify areas where people are active, avoid such areas, and then re-sweep the areas where people are active, to ensure the integrity of the cleaning.

In the technical solution of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and plans a first cleaning trajectory of the cleaning robot based on the target area, and plans a second cleaning trajectory for re-sweeping the target area. Cleaning tasks are performed by two different cleaning trajectories, which ensures that the cleaning robot will not affect the user's activities in the room during the cleaning process, and improves the efficiency of the cleaning robot in cleaning the room.

According to a fifth aspect of the present application, a control device for a cleaning robot is proposed, comprising: an acquisition module, used to acquire a target area, a target object is in the target area, and the target object is included in the image data collected by the cleaning robot; a control module, used to control the cleaning robot to clean according to a first cleaning trajectory based on the target area, and the first cleaning trajectory does not include the target area; the control module is used to control the cleaning robot to clean according to a second cleaning trajectory when the cleaning robot completes at least part of the first cleaning trajectory, and the second cleaning trajectory includes the target area.

The technical solution of the present application proposes a control device for a cleaning robot, which is used to control the cleaning robot to re-plan the first cleaning trajectory and the second cleaning trajectory of the cleaning robot when a living thing such as a human body is detected. The first cleaning trajectory temporarily skips the target area where the living thing such as a human body is located, and after at least part of the first cleaning trajectory is completed, the cleaning is performed according to the second cleaning trajectory including the target area to complete the re-scanning of the target area, so that the cleaning robot can intelligently identify the target area where people are active, avoid the target area, and then re-scan the target area where people are active to ensure the integrity of the cleaning.

In this technical solution, the cleaning robot includes an image acquisition device. When the cleaning robot is driving, the image acquisition device is turned on to shoot the scene around the cleaning robot, and semantic recognition is performed on the captured image data. When the target object is identified in the image data, the cleaning robot determines the target area where the target object is located. The target object includes human body, pets, etc. The target area includes each room in the house.

Specifically, the first cleaning trajectory is the driving trajectory of the cleaning robot to clean the non-target area, and the first cleaning trajectory is used to clean other areas except the target area. The second cleaning trajectory is the driving trajectory of the cleaning robot to clean the target area.

In the technical solution of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and preferentially cleans the non-target area through the first cleaning trajectory. After completing at least part of the cleaning along the first cleaning trajectory, it then performs cleaning based on the second cleaning trajectory.

The first cleaning trajectory of the cleaning robot is planned based on the target area, and a second cleaning trajectory is planned for supplementary cleaning of the target area. The cleaning task is performed by two different cleaning trajectories, which ensures that the cleaning robot will not affect the user's activities in the room during the cleaning task and improves the efficiency of the cleaning robot in cleaning the room.

According to the sixth aspect of the present application, a control device for a cleaning robot is proposed, including: a determination module, used to determine the first area of the target object in the map when the image data collected by the cleaning robot includes the target object; an acquisition module, used to obtain the operating status of the target device corresponding to the first area; and a control module, used to control the cleaning robot to clean the first area based on the operating status of the target device after the cleaning robot completes cleaning the second area in the map.

The technical solution of the present application proposes a control device for a cleaning robot, through which the cleaning robot can be controlled to identify the first area where the target object is located, and re-plan the current cleaning trajectory, so that the cleaning robot temporarily avoids the first area where the target object is active, and plans the subsequent re-sweeping path for the first area. The cleaning robot can also interact with other household devices to identify the user's activity status in the first area, so as to choose whether to start re-sweeping the first area, so as to avoid the cleaning robot still having an adverse effect on the user during the re-sweeping.

In the technical solution of the present application, the cleaning robot detects the target object by means of image recognition during driving, and determines the first area corresponding to the area where the target object is located, and determines whether to start re-scanning the first area through the operating status of the target device in the first area, so that the cleaning robot can judge and estimate the current operating scenario through the Internet of Things, and realizes that the cleaning robot can avoid the area where the first area is located in the current cleaning stage, thereby preventing the current cleaning process from affecting the user, and can also perform timely re-scanning of the uncleaned area in the future, and can ensure that the re-scanning stage will not have an adverse effect on the user's activities.

According to the seventh aspect of the present application, a control device for a cleaning robot is proposed, comprising: a memory, in which programs or instructions are stored; a processor, which executes the programs or instructions stored in the memory to implement the steps of the control method for the cleaning robot in any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the control method for the cleaning robot in any of the above-mentioned technical solutions, which will not be elaborated herein.

According to the eighth aspect of the present application, a computer program product is proposed. When the computer program product is executed by a processor, it implements the steps of the control method of the cleaning robot in any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the control method of the cleaning robot in any of the above-mentioned technical solutions, which will not be elaborated herein.

According to a ninth aspect of the present application, a readable storage medium is provided, wherein a program or instruction is stored on the readable storage medium. When the processor is executed, the steps of the control method of the cleaning robot in any of the above technical solutions are implemented. Therefore, all the beneficial technical effects of the control method of the cleaning robot in any of the above technical solutions are achieved, and no further elaboration is made here.

According to the tenth aspect of the present application, a cleaning robot is proposed, comprising: a control device of the cleaning robot as in any of the above-mentioned technical solutions, and/or a computer program product in any of the above-mentioned technical solutions, and/or a readable storage medium in any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the control device of the cleaning robot in any of the above-mentioned technical solutions, and/or the computer program product in any of the above-mentioned technical solutions, and/or the readable storage medium in any of the above-mentioned technical solutions, and no further details will be given here.

Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG1 shows one of the schematic flow charts of the control method of the cleaning robot provided in some embodiments of the present application;

FIG2 shows a second schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG3 shows a third schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG4 shows one of the schematic diagrams of the first planned trajectory provided in some embodiments of the present application;

FIG5 shows a second schematic diagram of a first planned trajectory provided in some embodiments of the present application;

FIG6 shows a fourth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG7 shows a fifth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG8 shows a sixth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG9 shows a seventh schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG10 shows an eighth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG11 shows a ninth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG12 shows a tenth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG13 shows an eleventh schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG14 shows a twelfth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG15 shows a thirteenth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;

FIG16 shows a structural block diagram of a control device of a cleaning robot provided in some embodiments of the present application;

FIG17 shows a structural block diagram of a control device of a cleaning robot provided in some embodiments of the present application;

FIG18 shows a structural block diagram of a control device of a cleaning robot provided in some embodiments of the present application;

FIG19 shows a structural block diagram of a control device of a cleaning robot provided in some embodiments of the present application;

FIG. 20 shows a structural block diagram of a cleaning robot provided in some embodiments of the present application.

DETAILED DESCRIPTION

In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, in the absence of conflict, the present embodiment and the features in the embodiment can be combined with each other.

In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

The following describes a control method, device, cleaning robot and storage medium for a cleaning robot according to some embodiments of the present application with reference to FIGS. 1 to 20 .

According to one embodiment of the present application, as shown in FIG1 , a control method for a cleaning robot is proposed, comprising:

Step 102, acquiring a target area, wherein a target object is in the target area, and the target object is included in the image data collected by the cleaning robot;

In this embodiment, when the image data collected by the cleaning robot includes the target object, a target area where the target object is located is determined;

Step 104, based on the target area, planning a first cleaning trajectory and a second cleaning trajectory, the first cleaning trajectory does not include the target area, and the second cleaning trajectory includes the target area;

Step 106: Based on the first cleaning trajectory and at least a portion of the second cleaning trajectory, control the cleaning robot to perform the cleaning task.

In an embodiment of the present application, a control method for a cleaning robot is proposed, which is used to control the cleaning robot to re-plan the cleaning trajectory of the cleaning robot when a living thing such as a human body is detected, so that the re-planned cleaning trajectory temporarily skips the area where the human body and other living things are located, and then re-sweeps the area, so that the cleaning robot can intelligently identify the area where people are active and re-sweep the area. Avoid it and re-sweep the area where people move around to ensure the integrity of the cleaning.

In this embodiment, the cleaning robot includes an image acquisition device. During the driving process of the cleaning robot, the image acquisition device is turned on to shoot the scene around the cleaning robot, and semantic recognition is performed on the captured image data. When the target object is identified in the image data, the cleaning robot determines the target area where the target object is located. Among them, the target object includes human body, pets, etc. The target area includes each room in the house. Specifically, after determining that there is a target object on the driving path of the cleaning robot through image recognition, the cleaning robot determines the current target area in combination with the semantic map. The cleaning robot can determine the operating scene of the cleaning robot through the target object and the target area, and plan the first cleaning trajectory currently cleaned by the cleaning robot and the second cleaning trajectory for subsequent cleaning based on the operating scene, and determine the preset time interval between two cleanings.

It should be noted that when the cleaning robot performs supplementary cleaning along the second cleaning trajectory, it may only perform cleaning along a portion of the second cleaning trajectory, that is, the cleaning robot may perform supplementary cleaning on the target area in regions and batches.

For example, when the user is cooking in the kitchen, the cleaning robot determines the kitchen as the target area. When performing a supplementary sweep of the kitchen, based on the collected image data, it is determined that the user is still in the kitchen, but the range of activities is concentrated near the integrated stove, and the cleaning robot cleans the rest of the kitchen. The second cleaning trajectory passes through the entire kitchen area, and the cleaning robot only performs a supplementary sweep of the kitchen according to part of the second cleaning trajectory during the supplementary sweep. After the current supplementary sweep is completed, the cleaning robot can perform a second supplementary sweep of the kitchen according to the remaining part of the second cleaning trajectory.

Specifically, the first cleaning trajectory is the driving trajectory of the cleaning robot when performing a cleaning task, that is, the driving trajectory of the cleaning robot when the cleaning component is turned on. The first cleaning trajectory is used to clean other areas except the target area. It should be noted that when the cleaning robot performs a cleaning task according to the first cleaning trajectory, the cleaning robot may need to pass through the target area. When passing through the target area, the cleaning robot stops cleaning the target area, passes through the target area by the shortest path, and continues to clean according to the first cleaning trajectory.

The second cleaning trajectory is the driving trajectory of the cleaning robot to clean the target area. It should be noted that the cleaning robot may pass through non-target areas during cleaning according to the second cleaning trajectory, but the cleaning components will not be turned on in the non-target areas, so it is determined that the second cleaning trajectory only includes the target area, that is, the cleaning robot only cleans the target area when moving along the second cleaning trajectory.

It should be noted that the cleaning robot includes a dry cleaning component and a wet cleaning component, wherein the dry cleaning component includes a roller brush component and a dust suction component, and the wet cleaning component includes a mopping component. When the cleaning robot performs a cleaning task, it selects at least one of the dry cleaning component and the wet cleaning component to operate according to the different types of dirt to clean the dirt.

In an embodiment of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and plans a first cleaning trajectory of the cleaning robot based on the target area, and plans a second cleaning trajectory for re-sweeping the target area. Cleaning tasks are performed by two different cleaning trajectories, thereby ensuring that the cleaning robot will not affect the user's activities in the room during the cleaning process, and improving the efficiency of the cleaning robot in cleaning the room.

According to one embodiment of the present application, as shown in FIG2 , a control method for a cleaning robot is proposed, comprising:

Step 202, acquiring a target area, wherein a target object is in the target area, and the target object is included in the image data collected by the cleaning robot;

Step 204, based on the target area, controlling the cleaning robot to clean according to a first cleaning trajectory, the first cleaning trajectory does not include the target area;

Step 206 , when the cleaning robot completes at least a portion of the first cleaning trajectory, control the cleaning robot to clean according to a second cleaning trajectory, where the second cleaning trajectory includes the target area.

In the embodiment of the present application, a control method for a cleaning robot is proposed, which is used to control the cleaning robot to re-plan the first cleaning trajectory and the second cleaning trajectory of the cleaning robot when a living thing such as a human body is detected. The first cleaning trajectory temporarily skips the target area where the living thing such as a human body is located, and after at least part of the first cleaning trajectory is completed, the cleaning is performed according to the second cleaning trajectory including the target area to complete the re-scanning of the target area, so that the cleaning robot can intelligently identify the target area where people are active, avoid the target area, and then re-scan the target area where people are active to ensure the integrity of the cleaning.

In this embodiment, the cleaning robot includes an image acquisition device. When the cleaning robot is driving, the image acquisition device is turned on to shoot the scene around the cleaning robot, and semantic recognition is performed on the captured image data. When the target object is identified in the image data, the cleaning robot determines the target area where the target object is located. The target object includes a human body, a pet, etc. The target area includes each room in the house.

Specifically, the first cleaning trajectory is the driving trajectory of the cleaning robot to clean the non-target area, and the first cleaning trajectory is used to clean other areas except the target area. The second cleaning trajectory is the driving trajectory of the cleaning robot to clean the target area.

In the embodiment of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and preferentially cleans the non-target area through the first cleaning track. After the first cleaning track completes at least part of the cleaning, Cleaning is then performed based on the second cleaning trajectory.

The first cleaning trajectory of the cleaning robot is planned based on the target area, and a second cleaning trajectory is planned for supplementary cleaning of the target area. The cleaning task is performed by two different cleaning trajectories, which ensures that the cleaning robot will not affect the user's activities in the room during the cleaning task and improves the efficiency of the cleaning robot in cleaning the room.

As shown in FIG3 , in the above embodiment, when the image data collected by the cleaning robot includes the target object, determining the target area where the target object is located includes:

Step 302, determining a first sub-map of the target object in the semantic map according to the semantic map and image data of the cleaning robot;

Step 304: determine the area corresponding to the first sub-map as the target area.

In this embodiment, a specific process for determining a target area in a room is proposed, thereby improving the accuracy of the determined target area.

The cleaning robot can construct a semantic map of the house during operation, and the semantic map includes multiple sub-maps, each of which corresponds to a room in the house. When the cleaning robot recognizes that the image data includes a target object, it determines the room where the target object in the image data is located based on the semantic map, and determines the first sub-map corresponding to the room as the target area.

Exemplarily, when the cleaning robot recognizes that the image data includes a target object, the semantic map is used to determine the room in which the cleaning robot is currently located. Since the image data captured by the image acquisition device are all image data near the cleaning robot, it can be determined that the cleaning robot and the target object are in the same room, and the first sub-map where the room is located is determined as the target area.

Exemplarily, when the cleaning robot recognizes that the image data includes a target object, it can identify the room corresponding to the scene in which the image data was shot by performing semantic recognition on the image data, and use the first sub-map corresponding to the room in the semantic map as the target area.

It should be noted that the cleaning robots plan their cleaning trajectories based on the semantic maps pre-stored in the cleaning robots, so the first sub-map in the semantic map is selected as the target area to facilitate the subsequent planning of the cleaning trajectory of the cleaning robots.

In an embodiment of the present application, the first sub-map in the semantic map is determined as the target area through image data, which can ensure the accuracy of identifying the target area and improve the convenience of subsequent planning of the cleaning trajectory of the cleaning robot.

In any of the above embodiments, the cleaning task includes a first cleaning task and a second cleaning task; based on the first cleaning trajectory and at least part of the second cleaning trajectory, the cleaning robot is controlled to perform the cleaning task, including: when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, the cleaning robot is controlled to perform the second cleaning task according to at least part of the second cleaning trajectory.

In this embodiment, after completing the first cleaning task, the cleaning robot continues to detect whether the target area meets the preset conditions. When it is detected that the target area meets the preset conditions, it determines that it can start executing the second cleaning task to re-sweep the target area, thereby ensuring that the cleaning robot will not affect the target object in the target area when performing the re-sweep.

In the embodiment of the present application, the first cleaning task is that the cleaning robot cleans according to the first cleaning trajectory, that is, the cleaning robot currently cleans the non-target area. The second cleaning task is that the cleaning robot cleans according to the second cleaning trajectory, that is, the cleaning robot cleans the target area.

Specifically, when the cleaning robot is executing the first cleaning task, it continuously detects the target area through the collected image data, and when the target area meets the preset conditions, it starts to execute the second cleaning task to re-scan the target area.

Exemplarily, the target object is a user, the target area is a bedroom, and the preset condition includes that the current period is not a rest period for the user.

Exemplarily, the target object is a user, the target area is a kitchen, and the preset condition is that the user leaves the kitchen.

Exemplarily, the target object is a pet cat, the target area is a living room, and the preset condition is that the pet cat does not enter the automatic cat litter box in the living room.

In an embodiment of the present application, the cleaning robot can not only plan the corresponding first cleaning trajectory and the second cleaning trajectory based on the target area, but also determine whether it can start to re-scan the target area according to the second cleaning trajectory based on whether the target area meets the preset conditions, while ensuring the timeliness of the re-scanning and avoiding the impact of the re-scanning on the target object in the target area.

In any of the above embodiments, the first cleaning task includes: in a process where the cleaning robot drives along the first cleaning trajectory, based on the cleaning robot driving in a non-target area, controlling the cleaning component of the cleaning robot to operate;

The second cleaning task includes: in a process in which the cleaning robot drives along at least a portion of the second cleaning trajectory, based on the cleaning robot driving in the target area, controlling the cleaning components of the cleaning robot to operate.

In this embodiment, a specific process is proposed in which the cleaning robot performs the corresponding first cleaning task and the second cleaning task through the first cleaning trajectory. Among them, the first cleaning task includes the cleaning robot driving along the first cleaning trajectory, turning on the cleaning component for cleaning when it does not pass through the target area, and turning off the cleaning component when it passes through the target area. The cleaning robot performs the first cleaning task to ensure the effect of cleaning the non-target area and avoid affecting the user in the target area. Among them, the second cleaning task includes the cleaning robot driving along the second cleaning trajectory, turning off the cleaning component when it does not pass through the target area, and turning on the cleaning component for cleaning when it passes through the target area. The cleaning robot performs the second cleaning task to ensure the effect of cleaning the target area and avoid wasting electricity by performing a second cleaning on the cleaned area.

Specifically, during the cleaning process according to the first cleaning trajectory, since the target area may be located between two non-target areas, when moving from one non-target area to another non-target area, the cleaning robot needs to be navigated to pass through the target area, and the cleaning component is controlled to stop running when passing through the target area to avoid the noise generated during the cleaning process affecting the user's activities in the area.

It should be noted that, when planning the first cleaning trajectory, if it is detected that the cleaning robot must pass through the target area, the shortest path through the target area is planned as the path of the first cleaning trajectory passing through the target area.

In this embodiment, when the cleaning robot performs the first cleaning task, the cleaning robot needs to move along the first cleaning trajectory, and stop the operation of the cleaning component when passing through the target area. When planning the first cleaning trajectory, the cleaning robot plans based on the semantic map. Identify the first submap corresponding to the target area and the second submap corresponding to the non-target area, and then plan the first cleaning trajectory based on the positional relationship between the first submap and the second submap to ensure that the part of the first cleaning trajectory that passes through the first submap is the shortest path.

Exemplarily, the subpath of the first cleaning trajectory passing through the second submap is a "bow"-shaped path, which ensures the cleaning integrity of the non-target area corresponding to the second submap. The subpath of the first cleaning trajectory passing through the first submap includes a straight path and a turning path, which ensures that the time taken to pass through the target area corresponding to the first submap is relatively short.

Exemplarily, the subpath passing through the first submap in the second cleaning trajectory is a "bow"-shaped path, which ensures the cleaning integrity of the target area corresponding to the first submap. The subpath passing through the second submap in the second cleaning trajectory includes a straight path and a turning path, which ensures that the time taken to pass through the target area corresponding to the second submap is shorter. Specifically, when planning the first cleaning trajectory and the second cleaning trajectory, the cleaning robot determines the areas that need to be cleaned by the first cleaning trajectory and the second cleaning trajectory, wherein the area that needs to be cleaned by the first cleaning trajectory is the second submap, and the area that needs to be cleaned by the second cleaning trajectory is the first submap. The planned first cleaning trajectory and second cleaning trajectory try to avoid areas that do not need to be cleaned, and avoid cleaning areas that do not need to be cleaned, which may affect the activities of the target object and waste energy. When the first cleaning trajectory and the second cleaning trajectory cannot avoid areas that do not need to be cleaned, the shortest path through the areas that do not need to be cleaned is planned.

As shown in FIG4 , the first cleaning track 402 passes through room A, room B, and room C, wherein room B is the target area and is located between room A and room C. The cleaning robot needs to clean room C after cleaning room A, so it passes through room B along the shortest path and stops the operation of the cleaning component when passing through room B.

As shown in FIG5 , the second cleaning trajectory 502 passes through room D, room E, and room F, where room F is a non-target area. The cleaning robot needs to clean room D and room E. Since room F is not a room that the cleaning robot must pass through during the cleaning process, the cleaning robot will not move to room F after cleaning room D and room E, so as to avoid disturbing people when the cleaning robot passes through room F.

In an embodiment of the present application, when the cleaning robot performs the first cleaning task and the second cleaning task, the cleaning robot cleans the area that needs to be cleaned and avoids the area that does not need to be cleaned, trying to ensure that it does not pass through the area that does not need to be cleaned. If the area that does not need to be cleaned cannot be avoided, the operation of the cleaning component is stopped to reduce the impact on users in the target area. It can also ensure the cleaning effect of the non-target area after the cleaning robot performs the first cleaning task.

As shown in FIG6 , in any of the above embodiments, after the cleaning robot completes the first cleaning task according to the first cleaning trajectory, the method further includes:

Step 602, determining a secondary cleaning area in a non-target area according to a first image collected by the cleaning robot during the execution of a first cleaning task, wherein the first image is an image of the non-target area;

Step 604: based on the secondary cleaning area, update the second cleaning trajectory so that the second cleaning trajectory includes the target area and the secondary cleaning area.

In this embodiment, it is proposed that when the cleaning robot performs the first cleaning task according to the first cleaning trajectory, it continuously collects the first image corresponding to the non-target area, and through the analysis of the first image, it can determine the secondary cleaning area that needs to be re-scanned in the non-target area after cleaning by the first cleaning trajectory. Then, based on the determined secondary cleaning area, the second cleaning trajectory is re-planned to ensure that when the cleaning robot performs cleaning according to the second cleaning trajectory, it can clean both the target area and the secondary cleaning area.

Specifically, the secondary cleaning area may be an area in the non-target area that is not completely cleaned, that is, when the cleaning robot performs cleaning according to the first cleaning track, it determines through the first image that there is an area that is not completely cleaned, and determines the area as the secondary cleaning area.

Exemplarily, the first cleaning trajectory passes through the living room. After the cleaning robot finishes cleaning the living room according to the first cleaning trajectory, the cleaning robot determines through the collected first image that there is still dirt in the living room, and the cleaning robot determines the dirty area as the secondary cleaning area.

Exemplarily, the first cleaning trajectory passes through the kitchen. While the cleaning robot is cleaning the kitchen according to the first cleaning trajectory, the target object enters the kitchen and passes through an area that has been cleaned. The cleaning robot determines the area passed by the target object as a secondary cleaning area through the captured first image.

In the embodiment of the present application, the cleaning robot can continuously detect the secondary cleaning area in the non-target area passed by the first cleaning trajectory while cleaning according to the first cleaning trajectory, and can update the second cleaning trajectory based on the secondary cleaning area to perform cleaning. This step ensures the cleaning robot's re-sweeping effect when performing re-sweeping along the second cleaning track.

In any of the above embodiments, the preset conditions include: the time after the first cleaning task is completed reaches a preset time; and/or the target object leaves the target area.

In this embodiment, a preset condition is proposed for the cleaning robot to determine whether to start the second cleaning task to re-sweep the target area after completing the first cleaning task. Among them, the preset condition includes that the time after the completion of the first cleaning task reaches the preset time. In this embodiment, it is proposed that before the cleaning robot performs the second cleaning task to re-sweep the target area, the preset time needs to be determined, that is, to ensure that the cleaning robot starts to perform the second cleaning task to re-sweep the target area after the preset time of completing the first cleaning task, so as to avoid premature re-sweeping affecting users in the target area.

It should be noted that the preset duration may be a duration set by the user according to actual needs, or may be a preset duration obtained by the cleaning robot through analysis of the target area and collected image data.

Specifically, after the cleaning robot plans the first cleaning trajectory and the second cleaning trajectory based on the image data and the semantic map, the cleaning robot obtains the preset duration between the first cleaning task and the second cleaning task. When the cleaning robot completes the first cleaning task based on the first cleaning trajectory, the cleaning robot returns to the station and starts timing. After the timing reaches the preset duration, the cleaning robot leaves the station and starts to perform the second cleaning task based on the second cleaning trajectory.

For example, if the target object is a human body and the target area is a kitchen, and it is determined that the current operating scene is that the user is cooking in the kitchen, then the cleaning robot will clean according to the second cleaning trajectory one hour after cleaning according to the first cleaning trajectory. By leaving an interval of one hour between the two cleanings, it can ensure that the user finishes cooking in the kitchen, reduce the time required for the cleaning robot to take a detour, and avoid affecting the user's cooking process while the cleaning robot is cleaning in the kitchen.

For example, if the target object is a human body and the target area is a bedroom, and it is determined that the current operation scene is that the user is resting in the bedroom, then the cleaning robot will clean according to the second cleaning trajectory twelve hours after cleaning according to the first cleaning trajectory. By leaving twelve hours between the two cleanings, the cleaning robot can avoid disturbing the user's rest.

It should be noted that the preset time interval between two cleaning tasks is related to the target object and the target area identified by the cleaning robot, that is, the cleaning robot can plan the preset time interval based on the target object and the target area.

The preset condition includes that the time after the first cleaning task is completed reaches the preset time. The preset condition includes that the target object leaves the target area.

In this embodiment, the cleaning robot continuously collects image data of the target area when executing the first cleaning task stage, and performs image recognition on the collected image data, thereby being able to determine whether the target object has left the target area.

Exemplarily, when the cleaning robot performs the first cleaning task according to the first cleaning track, it continuously collects image data corresponding to the target area and continuously identifies whether the target object in the image data is in place. When the target object leaves the target area, the cleaning of the first cleaning track is suspended and cleaning is started according to the second cleaning track.

Exemplarily, after completing the first cleaning task according to the first cleaning trajectory, the cleaning robot collects image data corresponding to the target area, and starts cleaning according to the second cleaning trajectory when it is determined that the target object has left the target area.

Exemplarily, after completing the first cleaning task according to the first cleaning trajectory, the cleaning robot collects image data corresponding to the target area. When it detects that the target object has not left the target area, the cleaning robot returns to the station and starts timing. After the timing reaches the preset time, it starts cleaning according to the second cleaning trajectory.

In an embodiment of the present application, the cleaning robot can accurately determine whether the cleaning robot can start re-sweeping according to the second cleaning trajectory by judging whether the time after the completion of the first cleaning task reaches a preset time and/or judging whether the target object has left the target area. This ensures that the cleaning robot can re-sweep the target area in a timely manner while avoiding the impact of inappropriate timing of the cleaning robot's re-sweeping on the user.

In any of the above embodiments, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: determining a preset duration based on the area category corresponding to the target area in the semantic map of the cleaning robot, wherein the area category includes one of the kitchen area, bedroom area, living room area, washroom area, and office area. In this embodiment, the cleaning robot is able to determine the area category of the target area based on the semantic information of the target area in the semantic map, and accordingly determine the preset duration of the interval for re-sweeping the target area, so that the preset duration of the interval matches the current actual scene.

It should be noted that the area categories are not limited to the above, and can also be customized by the user, for example: setting living room 1, living room 2, dining room 1, dining room 2, shower room, toilet, etc.

In the embodiment of the present application, by limiting the specific content of the area category, it is ensured that the area category of the target area can be identified, and the preset duration of the corresponding interval can be accurately determined according to the area category.

It should be noted that the cleaning robot has a pre-stored mapping relationship between area categories and preset durations. After determining the area category, the cleaning robot can use the mapping relationship to find the corresponding preset duration. The user can also set the mapping relationship according to actual needs to ensure that the preset duration found according to the area category meets the user's needs. It corresponds to multiple preset durations, and each preset duration is associated with other judgment conditions, such as: the current time, etc.

Exemplarily, the target object in the image data is identified as a human body, and the room corresponding to the target area is identified as a kitchen through the semantic map. It is determined that the user is cooking in the kitchen at this time, so the preset duration is set to 1 hour.

Exemplarily, the target object in the image data is identified as a pet dog, and the target area is identified as a living room through the semantic map, and it is determined that the pet dog is eating in the living room at this time, so the preset time is set to 20 minutes.

Exemplarily, the target object in the image data is identified as a human body, and the room corresponding to the target area is identified as a bedroom through the semantic map, and combined with the current time information, for example: the current time information is 22:05, it is determined that the user is resting in the bedroom at this time, so the preset duration is set to 10 hours.

In an embodiment of the present application, after identifying the target area, the cleaning robot can determine the specific area category corresponding to the target area through the semantic map, and determine the preset duration of the corresponding interval based on the area category, to ensure that the re-sweeping process matches the actual application scenario of the cleaning robot.

As shown in FIG. 7 , in any of the above embodiments, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, the method further includes:

Step 702, identifying target features in the image data;

Step 704, determining a preset duration according to the posture and/or parameters of the target feature;

The target feature includes one of a door feature, a window feature, and a home appliance feature.

In this embodiment, it is proposed that the cleaning robot identifies the posture and/or parameters of the target feature in the image data, and searches for the corresponding preset time duration based on the posture and/or parameters.

In the embodiment of the present application, the posture of the target feature includes but is not limited to the opening and closing posture of the door, the opening and closing posture of the window, the placement posture of the home appliance, etc. The parameters of the target feature include but are not limited to the size parameters of the door, the size parameters of the window, the size parameters and operation parameters of the home appliance, etc.

Specifically, after the cleaning robot identifies the target object, it identifies the background area in the image data. When it is identified that the image data also includes target features, it detects the posture and/or parameters of the target features and selects different preset durations based on different postures. It should be noted that the target object is a living object in the image data, such as a pet, a human body, etc. The target feature is an object feature in the image data, such as a door, a window, a household appliance, etc.

Exemplarily, the cleaning robot detects that the image data includes a target object, and determines through image recognition that the door feature is in a closed posture, that is, the door is closed, and determines that the cleaning robot cannot enter the room temporarily, then the preset time is set to 2 hours.

Exemplarily, the cleaning robot detects that the image data includes a target object, determines through image recognition that the integrated stove is in an operating posture, and determines that the user is cooking at this time, and then sets the preset time to 1 hour.

Exemplarily, the cleaning robot detects that the image data includes a target object, obtains the operating parameters of the TV in the room, determines that the TV is playing a movie, and determines that the user is watching a movie at this time, and then sets the preset duration to 3 hours.

In an embodiment of the present application, the cleaning robot can analyze the actual scene in which the cleaning robot is located through the posture and/or parameters of the target features in the collected image data, and set the preset duration of the corresponding interval accordingly, so as to ensure the success rate of the cleaning robot when performing the second cleaning task of make-up sweeping, and avoid the make-up sweeping process from having an adverse effect on users in the target area.

In any of the above embodiments, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: acquiring a second image corresponding to the target area; and determining whether the target object leaves the target area based on the second image.

In this embodiment, it is proposed that before the cleaning robot performs supplementary scanning along the second cleaning trajectory, the image acquisition device captures a second image corresponding to the target area, performs image recognition on the second image, and determines whether the target object leaves the target area, thereby achieving accurate control of whether the cleaning robot starts to perform supplementary scanning.

In any of the above embodiments, before acquiring the target area, the method includes: controlling an image acquisition device of the cleaning robot to continuously acquire image data while the cleaning robot performs the third cleaning task according to the third cleaning trajectory.

In this embodiment, it is proposed that when the cleaning robot performs the corresponding third cleaning task according to the preset third cleaning trajectory after leaving the station, the image acquisition device is turned on to continuously acquire image data, so as to facilitate the subsequent re-planning of the corresponding first cleaning trajectory and the second cleaning trajectory for supplementary cleaning based on the acquired image data including the target object.

Specifically, before the cleaning robot leaves the station to perform the third cleaning task, it plans the corresponding third cleaning trajectory based on the pre-stored semantic map, and the third cleaning trajectory can be a trajectory for cleaning the whole house. After the cleaning robot leaves the station, the cleaning robot turns on the image acquisition device and keeps acquiring images of the surrounding environment. After acquiring image data including the target object, it promptly plans the first cleaning trajectory and the second cleaning trajectory, stops running the current third cleaning trajectory, cleans the house according to the first cleaning trajectory, and after the cleaning is completed for a preset time, re-sweeps the house according to the second cleaning trajectory.

In the embodiment of the present application, the cleaning robot is controlled to keep the image acquisition device turned on after leaving the station, so that the cleaning robot can The current surrounding environment can be obtained in time, thereby improving the efficiency of replanning the first cleaning trajectory.

According to one embodiment of the present application, as shown in FIG8 , a control method for a cleaning robot is proposed, including:

Step 802, when the image data collected by the cleaning robot includes the target object, determining a first area of the target object in the map;

Step 804, obtaining the operating status of the target device corresponding to the first area;

Step 806: After the cleaning robot completes cleaning the second area in the map, based on the operating state of the target device, the cleaning robot is controlled to clean the first area.

In the embodiment of the present application, a control method for a cleaning robot is proposed, through which the cleaning robot can be controlled to identify the first area where the target object is located, and re-plan the current cleaning trajectory, so that the cleaning robot temporarily avoids the first area where the target object is active, and plans the subsequent re-sweeping path for the first area. The cleaning robot can also interact with other household devices to identify the user's activity status in the first area, so as to choose whether to start re-sweeping the first area, so as to avoid the cleaning robot still having an adverse effect on the user during the re-sweeping.

In this embodiment, the cleaning robot includes an image acquisition device. When the cleaning robot is driving, the image acquisition device is turned on to photograph the scene around the cleaning robot, and semantic recognition is performed on the photographed image data. When the target object is identified in the image data, the cleaning robot can determine the first area where the target object is located in combination with the map.

It should be noted that the target object includes a human body, a pet, etc. The map includes multiple areas, each of which corresponds to a room in a house. When the cleaning robot recognizes that the image data includes the target object, it determines a first area corresponding to the area where the target object in the image data is located based on the map.

In this embodiment, the cleaning robot is connected to multiple other household appliances in communication, and the cleaning robot can obtain the positioning information of other household appliances connected to it. After determining the first area where the target object is located, the cleaning robot can find the target device located in the area where the first area is located, and the target device is one of the multiple other household appliances connected to the cleaning robot. By exchanging data with the target device, the operating status of the target device is obtained, and based on the operating status of the target device, it is determined whether to start re-sweeping the first area. The cleaning robot can estimate whether the user has left the first area based on the operating status of the target device in the area corresponding to the first area, and ensure that after the cleaning robot starts re-sweeping, the re-sweeping process will not have an adverse effect on the user's activities in the area.

Exemplarily, the cleaning robot can be communicatively connected with other household appliances via the Internet of Things, the cleaning robot can be communicatively connected with other household appliances via near field communication technology, and the cleaning robot can be communicatively connected with other appliances via Bluetooth communication technology.

It should be noted that the target object can be a human body, or a living creature such as a pet dog or cat.

In this embodiment, after finding the first area, the cleaning robot can also use the remaining areas in the map as the second area and re-plan the current cleaning trajectory based on the second area. The cleaning robot starts to clean the second area according to the re-planned cleaning trajectory, and after the cleaning is completed, the cleaning robot is controlled to re-sweep the corresponding area of the first area based on the operating status of the target device.

It should be noted that the cleaning robot includes a dry cleaning component and a wet cleaning component, wherein the dry cleaning component includes a roller brush component and a dust suction component, and the wet cleaning component includes a mopping component. When the cleaning robot performs a cleaning task, it selects at least one of the dry cleaning component and the wet cleaning component to operate according to the different types of dirt to clean the dirt.

In an embodiment of the present application, the cleaning robot detects the target object through image recognition during driving, and determines the first area corresponding to the area where the target object is located, and determines whether to start re-scanning the first area through the operating status of the target device in the first area, so that the cleaning robot can judge and estimate the current operating scenario through the Internet of Things, and achieves the cleaning robot being able to avoid the area where the first area is located during the current cleaning stage, thereby preventing the current cleaning process from affecting the user, and can also perform timely re-scanning of the uncleaned areas later, and can ensure that the re-scanning stage will not have an adverse effect on the user's activities.

As shown in FIG. 9 , in the above embodiment, after the cleaning robot completes cleaning the second area in the map, the cleaning robot is controlled to clean the first area based on the operating state of the target device, including:

Step 902, determining a preset duration based on the operating status of the target device;

Step 904, after the cleaning robot completes cleaning the second area, the cleaning robot is controlled to clean the first area at a target time interval, where the target time interval is associated with the preset time interval and the cleaning time interval, and the cleaning time interval is the time interval for the cleaning robot to clean the second area.

In this embodiment, it is proposed that the cleaning robot can determine the target duration of the interval between the current cleaning phase and the re-sweeping phase according to the operating status of the target device in the first area, while ensuring the timeliness of the re-sweeping of the first area, it can also avoid the re-sweeping phase from affecting the activities of the target object in the first area.

In the embodiment of the present application, the preset duration matches the operating state of the target device, and the preset duration can be matched with the operating state of the target device by looking up the table. The target duration is the actual interval time required for the cleaning robot to complete cleaning the second area. Since the cleaning robot needs to take a certain cleaning time to clean the second area, the target duration is the duration calculated based on the preset duration and the cleaning duration.

In an embodiment of the present application, a plurality of first devices in the map are screened through the first area in the map to determine the target device therein, thereby ensuring the matching of the target device with the first area. After determining the target device, the cleaning robot communicates with the target device to determine the operating status of the target device. The corresponding preset duration is determined according to the operating status, and the target duration is set in combination with the cleaning duration of the cleaning robot to clean the second area, thereby improving the matching degree between the target duration determined for the supplementary cleaning and the operating status of the target device corresponding to the first area, and ensuring that the cleaning robot supplements the cleaning of the first area after the target duration is separated, without affecting the user.

In any of the above embodiments, after the cleaning robot completes cleaning the second area, before controlling the cleaning robot to clean the first area after a target time, the process includes: when the cleaning time is greater than or equal to the preset time, determining the target time to be 0; when the cleaning time is less than the preset time, determining the difference between the preset time and the cleaning time as the target time.

In this embodiment, the cleaning time required for the cleaning robot to clean the second area is compared with the preset time, and based on the numerical relationship between the cleaning time obtained by the comparison and the preset time, a target time corresponding to the required interval is set to ensure the timeliness of the cleaning robot's re-sweeping and avoid the impact of the cleaning robot on the user during the re-sweeping stage.

Specifically, the preset duration is T1, and the cleaning duration is T2. When T2≥T1, it is determined that after the cleaning robot completes cleaning the second area, it will not cause adverse effects on the user if it immediately re-sweeps the first area, so the target duration of the required interval is set to 0, that is, the cleaning robot immediately re-sweeps the first area after completing cleaning the second area. When T2＜T1, in order to avoid the re-sweeping stage affecting the user, it is determined that after the cleaning robot completes cleaning the second area, it still needs to wait for a certain period of time before starting to re-sweep the first area. By calculating the difference T=T1-T2, and taking the difference T as the target duration, the cleaning robot re-sweeps the first area after completing cleaning the second area and after the target duration T.

Among them, the cleaning time is obtained by timing during the operation of the cleaning robot.

For example, the target object is a human body, the first area is a kitchen, and the target device is an integrated stove. The cleaning robot determines that the integrated stove is in operation and determines that the user is cooking in the kitchen, so the preset duration is set to 1 hour. When the cleaning robot cleans the second area for 10 minutes, it starts to clean the kitchen area corresponding to the first area 50 minutes after the cleaning is completed.

For example, the target object is a pet dog, the first area is the living room, and the target device is an automatic pet water dispenser. The cleaning robot determines that the automatic pet water dispenser is in operation and determines that the pet dog is drinking water in the living room, so the preset duration is set to 10 minutes. When the cleaning robot cleans the second area for 20 minutes, it immediately starts to clean the living room area corresponding to the first area after the cleaning is completed.

In an embodiment of the present application, the cleaning robot can accurately determine the target time required for the cleaning robot to complete cleaning of the second area by comparing the cleaning time corresponding to the second area with the preset time, thereby ensuring that re-cleaning of the second area after the target time will not affect the user and improving the timeliness of the re-cleaning.

As shown in FIG. 10 , in any of the above embodiments, determining the preset duration based on the operating state of the target device includes:

Step 1002, locating a plurality of first devices matching the map;

Step 1004, screening a target device from a plurality of first devices through the first region;

Step 1006, obtaining the operating status of the target device;

Step 1008: Determine a preset duration according to the operating state of the target device and the preset correspondence.

This embodiment proposes a specific process of searching for a corresponding target device based on a map and setting a preset duration based on the operating status of the target device.

Specifically, the cleaning robot obtains the positioning information of other household devices. Based on the positioning information, the cleaning robot can find multiple first devices within the map range, that is, the coordinates of the multiple first devices are all inside the map. The cleaning robot can determine the target device among the multiple first devices through the range of the first area in the map, that is, the coordinates of the target device are located inside the first area. Due to the communication connection between the cleaning robot and the target device, the cleaning robot can obtain the operating status of the target device. The cleaning robot pre-stores a preset correspondence between the target device and the preset time length. After determining the target device, the cleaning robot can obtain the corresponding preset time length by searching for the preset correspondence.

Exemplarily, the user can set the preset duration corresponding to different target devices according to actual needs.

In some possible implementations, the cleaning robot obtains the positioning information of other household appliances, including: during the process of building a map, the cleaning robot builds an object bounding box of other household appliances, that is, the coordinate information of other household appliances is stored in the map, and the coordinate information of other household appliances is read and the read coordinate information is used as the positioning information.

In some other possible implementations, the cleaning robot obtains the positioning information of other household appliances, including: the cleaning robot is communicatively connected with the other household appliances, the other household appliances have a positioning function, and the cleaning robot reads the positioning information of the other household appliances by communicating with the other household appliances.

In the embodiment of the present application, a plurality of first devices in the map are screened through the first area in the map, thereby determining the target device therein, and ensuring the matching of the target device with the first area. After determining the target device, the cleaning robot communicates with the target device to determine the operating status of the target device, and sets a preset duration accordingly, thereby improving the matching degree between the preset duration determined for the supplementary sweep and the operating status of the target device corresponding to the first area, and ensuring that the cleaning robot supplements the sweep of the first area after the preset duration, without affecting the user.

As shown in FIG. 11 , in any of the above embodiments, the number of target devices is at least two; determining the preset duration according to the operating state of the target device and the preset corresponding relationship includes:

Step 1102, obtaining the operating status and preset corresponding relationship of at least two target devices, and determining at least two interval durations;

Step 1104: Determine a preset duration based on at least two interval durations.

In this embodiment, when a plurality of target devices are included in the first area, the cleaning robot sets corresponding preset durations according to a plurality of interval durations corresponding to the plurality of target devices, thereby further improving the degree of matching between the set preset duration and the actual scene.

Specifically, when the first area includes multiple target devices, the interval duration corresponding to each target device is searched through the preset corresponding relationship to obtain multiple interval durations. After obtaining multiple interval durations, one of the multiple interval durations can be selected as the preset duration by screening, or the corresponding preset duration can be obtained by mathematically calculating the multiple interval durations.

For example, the first area is the living room area, and the target devices in the living room area include a TV, an air conditioner, a humidifier, and a massage chair. If the TV and the air conditioner among the target devices are in operation, two corresponding interval durations are found, namely 3 hours for the TV and 2 hours for the air conditioner. The cleaning robot selects the shorter 2 hours as the preset duration, ensuring that the cleaning robot is controlled to perform re-cleaning of the living room area according to the preset interval duration, thereby ensuring the timeliness of re-cleaning of the living room.

In an embodiment of the present application, when there are multiple target devices corresponding to the first area, the cleaning robot can comprehensively determine the corresponding preset time length according to the multiple target devices, thereby further improving the matching degree between the preset time length and the actual scene of the first area.

In any of the above embodiments, the preset duration is an average value of at least two interval durations; or the preset duration is a maximum value of at least two interval durations; or the preset duration is a minimum value of at least two interval durations.

In this embodiment, multiple methods are proposed to determine the preset duration based on multiple interval durations. This includes calculating the average value of multiple interval durations and using the calculated average value as the preset duration. This also includes taking the maximum or minimum value among the multiple interval durations and using the maximum or minimum value as the preset duration.

Optionally, the user can select any of the above methods according to actual needs and determine the preset duration from multiple interval durations.

Optionally, the cleaning robot selects any of the above methods based on the first area category to determine a preset duration from multiple interval durations, that is, the preset duration is determined according to the area category corresponding to the first area and the multiple interval durations, and the preset duration includes: any one of the maximum value, minimum value or average value of the multiple interval durations. The area category includes: at least one of the living room area, kitchen area, and bedroom area.

Exemplarily, the first area category is the living room area. Since the activities performed by users in the living room are mostly related to entertainment, in order to improve the timeliness of the re-scanning, the minimum value of multiple interval durations can be used as the preset duration.

Exemplarily, the first area category is a bedroom area. Since the activities performed by the user in the bedroom are mostly related to rest, in order to avoid disturbing the user's rest, the maximum value of multiple interval durations can be used as the preset duration.

In an embodiment of the present application, by setting the preset duration to the maximum value, minimum value or average value among multiple interval durations, it can further ensure that the preset duration matches the actual scene of the area corresponding to the first area, thereby ensuring the timeliness of re-scanning the area while avoiding adverse effects on the user during the re-scanning.

As shown in FIG. 12 , in any of the above embodiments, after the cleaning robot completes cleaning the second area in the map, based on the operating state of the target device, controlling the cleaning robot to clean the first area includes:

Step 1202, after the cleaning robot completes cleaning the second area, determining the activity state of the target object in the first area based on the operating state of the target device;

Step 1204 : Based on the activity state of the target object in the first area satisfying a preset condition, control the cleaning robot to clean the first area.

In this embodiment, after the cleaning robot completes cleaning the second area, it continuously obtains the operating status of the target device in the first area, and determines whether the current supplementary sweep will have an impact on the target object in the first area. If the cleaning robot determines that the supplementary sweep will not affect the target object at this time, the cleaning robot is controlled to start supplementary sweeping of the first area.

In an embodiment of the present application, the cleaning robot can determine the activity state of the target object according to the operating state of the target device. Specifically, the cleaning robot can find the activity state of the target object based on the operating state of the target device according to a preset mapping relationship. Exemplarily, the preset mapping relationship can be stored in the local storage area of the cleaning robot or in the cloud. end.

In some possible implementations, the cleaning robot determines the cleaning power for cleaning the first area according to the activity state. For example, the cleaning robot determines that the activity state is a transition from a sleeping state to a resting state based on the operating state of the target device, and then controls the cleaning robot to reduce the cleaning power for supplementary cleaning of the bedroom area, thereby ensuring the timeliness of the supplementary cleaning and avoiding affecting the user in the resting state.

In the embodiment of the present application, when the first area includes multiple target devices, the activity state of the target object is determined according to the operating states of the multiple target devices, and the accuracy of the determination of the activity state of the target object can be improved by fully combining the operating states of multiple different devices. Among them, the activity state meets the preset state, including but not limited to the target object leaving the first area.

For example, the target object is a human body, the first area is a bedroom, and the target device is an electric curtain. After the cleaning robot finishes cleaning the second area, it obtains that the electric curtain switches from a closed state to an open state, and determines that the user is no longer resting. At this time, cleaning the bedroom again will not affect the user's rest, so the cleaning robot starts cleaning the bedroom.

For example, the target object is a pet cat, the first area is a living room, and the target device is an automatic cat litter box. After the cleaning robot finishes cleaning the second area, it obtains that the automatic cat litter box has switched from the running state to the standby state, and determines that the pet cat has left the automatic cat litter box. At this time, cleaning the living room again will not disturb the pet cat, so the cleaning robot starts cleaning the living room.

In an embodiment of the present application, the cleaning robot can judge the activity state of the target object according to the operating state of the target device, and judge whether to start re-sweeping the first area accordingly, so that the cleaning robot can quickly re-sweep the first area after the target object leaves the first area, thereby ensuring the timeliness of the re-sweeping and avoiding the impact of the re-sweeping on the target object in the first area.

As shown in FIG. 13 , in any of the above embodiments, after the cleaning robot completes cleaning the second area in the map, before controlling the cleaning robot to clean the first area based on the operating state of the target device, the steps include:

Step 1302, planning a fourth cleaning trajectory based on the second area;

Step 1304: Control the cleaning robot to perform cleaning according to the fourth cleaning trajectory.

This embodiment provides a specific process of the cleaning robot cleaning the second area, including planning a fourth cleaning track according to the second area in the map, driving the cleaning robot to travel along the planned fourth cleaning track, and the operating state of the cleaning component of the cleaning robot during the driving process, ensuring that the cleaning component is turned off when the cleaning robot passes through the first area to avoid affecting the user's activities in the first area.

Specifically, during the cleaning process according to the fourth cleaning trajectory, since the first area may be located between two second areas, when moving from one of the second areas to another second area, the cleaning robot needs to be navigated to pass through the first area, and the cleaning component is controlled to stop running when passing through the first area to avoid the noise generated during the cleaning process affecting the user's activities in the area, and the cleaning component is operated when the cleaning robot passes through the second area to clean the second area.

It should be noted that, when planning the fourth cleaning trajectory, if it is detected that the cleaning robot must pass through the first area, the shortest path through the first area is planned as the path of the fourth cleaning trajectory passing through the first area.

Exemplarily, the subpath passing through the second area in the fourth cleaning trajectory is a "bow" shaped path to ensure the cleaning integrity of the second area. The subpath passing through the first area in the fourth cleaning trajectory includes a straight path and a turning path to ensure that the time spent passing through the first area is short.

In an embodiment of the present application, when the cleaning robot passes through the second area, the cleaning component is kept in an on state to ensure that the cleaning robot can normally clean the second area in the house.

In any of the above embodiments, the cleaning robot is controlled to clean according to a fourth cleaning trajectory, including: the fourth cleaning trajectory includes a first area and a second area, and when the cleaning robot is driving in the first area, the cleaning component of the cleaning robot is controlled to stop running, and when the cleaning robot is driving in the second area, the cleaning component is controlled to run; the fourth cleaning trajectory includes the second area but does not include the first area, and when the cleaning robot is controlled to drive along the fourth cleaning trajectory, the cleaning component is kept in an operating state.

In this embodiment, it is proposed that when the fourth cleaning trajectory planned by the cleaning robot passes through the first area and the second area, the cleaning robot turns off the cleaning component when driving in the first area, and only uses the cleaning component to clean the second area. The fourth cleaning trajectory planned by the cleaning robot only passes through the second area, and when the cleaning robot cleans according to the fourth cleaning trajectory, the cleaning component is kept running, so as to clean the second area.

Specifically, when planning the fourth cleaning trajectory, the cleaning robot determines that the fourth cleaning trajectory passes through the first area, that is, to ensure the completeness of cleaning the second area, when it cannot avoid the first area, the shortest path passing through the first area is planned. During the actual cleaning process of the cleaning robot, when passing through the first area, the cleaning component is turned off to avoid the noise generated by the cleaning component from affecting the user.

In an embodiment of the present application, the cleaning robot cleans the second area and avoids the location of the first area, trying not to pass through the first area. If the first area cannot be avoided, the cleaning component is stopped to reduce the impact on users in the first area while ensuring the cleaning effect of the cleaning robot on the second area.

In any of the above embodiments, the target device includes a rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, At least one of a hair dryer and a washing machine.

In this embodiment, it is proposed that the target device includes: at least one of an electric rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, a hair dryer, and a washing machine, that is, all smart IoT home devices can be used as target devices to communicate with the cleaning robot.

It should be noted that the cleaning robot can simply identify the user's activity scene in the corresponding area based on different target devices in different operating states, and set the corresponding preset time.

Exemplarily, the target device is a water heater in a bathroom, and the water heater operates in instant heating mode, and it is determined that the user is washing in the bathroom at this time, and the preset time is set to 30 minutes.

Exemplarily, the target devices are the air conditioner and electric curtains in the bedroom. The air conditioner is in cooling state, and the electric curtains are in the pulled-up shielding state, then it is determined that the user is sleeping in the bedroom, and the preset duration is set to 12 hours.

Exemplarily, the target device is an electric rice cooker in the kitchen. If the electric rice cooker is running in the quick cooking mode, it is determined that the user is cooking in the kitchen at this time, and the preset time is set to 1 hour.

In an embodiment of the present application, by setting different types of devices as target devices, the accuracy of the preset time determined by the target device can be improved, ensuring that after the preset time for cleaning the second area is completed, when the first area is cleaned, it will not affect the activities of people in the first area.

As shown in FIG. 14 , in any of the above embodiments, when the image data collected by the cleaning robot includes the target object, determining that the target object is in the first area in the map includes:

Step 1402, planning a fifth cleaning trajectory based on the map;

Step 1404, controlling the cleaning robot to clean according to the fifth cleaning trajectory;

Step 1406: During the cleaning process of the cleaning robot, the image acquisition device of the cleaning robot is controlled to continuously acquire image data.

In this embodiment, it is proposed that when the cleaning robot cleans according to the preset fifth cleaning trajectory after leaving the station, the image acquisition device is turned on to continuously acquire image data, so as to facilitate the subsequent re-planning of the corresponding fourth cleaning trajectory and the fifth cleaning trajectory for supplementary cleaning based on the acquired image data including the target object.

Specifically, before the cleaning robot leaves the station to clean according to the preset fifth cleaning track, it plans the corresponding fifth cleaning track based on the pre-stored map, and the fifth cleaning track can be a track for cleaning the whole house. After the cleaning robot leaves the station, the cleaning robot turns on the image acquisition device and keeps acquiring images of the surrounding environment. After acquiring image data including the target object, it promptly plans the fourth cleaning track and the fifth cleaning track, stops running the current fifth cleaning track, cleans the house according to the fourth cleaning track, and after the preset cleaning time is completed, re-sweeps the house according to the fifth cleaning track.

In the embodiment of the present application, by controlling the cleaning robot to keep the image acquisition device turned on after leaving the station, the cleaning robot can obtain the current surrounding environment in a timely manner, thereby improving the efficiency of re-planning the fourth cleaning trajectory.

As shown in FIG. 15 , in any of the above embodiments, planning a fifth cleaning trajectory based on the map includes:

Step 1502, obtaining location information of a second device in the map, where the second device is a home appliance in operation;

Step 1504 , planning a fifth cleaning trajectory according to the positioning information.

In this embodiment, it is proposed that the cleaning robot plans the fifth cleaning trajectory based on the positioning information of the household appliances in operation in the map before leaving the station, so that the operating status of the household appliances in the house is fully considered before cleaning begins, thereby reducing the number of times the cleaning robot replans the path after leaving the station.

Specifically, when the cleaning robot is not leaving the station, it communicates with the household devices in the map to obtain the operating status of all household devices in the map. It finds the second device in operation and plans the fifth cleaning trajectory based on the positioning information of the second device. The cleaning robot can estimate the user's activity range and activity time in the house based on the positioning information of the second device, so as to plan the fifth cleaning trajectory so that the fifth cleaning trajectory can avoid the user's activity range and reduce the probability of temporary re-planning of the fourth cleaning trajectory later.

In any of the above embodiments, the map includes any of the following: a semantic map, an image map.

In this embodiment, the map stored in the sweeping machine may be a semantic map or an image map.

In an embodiment of the present application, by setting the map as a semantic map or an image map, the accuracy of the cleaning trajectory automatically planned by the sweeping machine can be improved, thereby ensuring the cleaning effect and cleaning efficiency of the sweeping machine when cleaning the house based on the map.

In an embodiment of the present application, the cleaning robot plans the fifth cleaning trajectory through the positioning information of the second device in operation without leaving the station, thereby reducing the possibility of the cleaning robot replanning the path during the cleaning process.

In one embodiment of the present application, as shown in FIG16 , a control device 1600 of a cleaning robot is provided, comprising:

An acquisition module 1602 is used to acquire a target area, where a target object is located, and the target object is included in the image data collected by the cleaning robot;

A planning module 1604, configured to plan a first cleaning trajectory and a second cleaning trajectory based on the target area, wherein the first cleaning trajectory does not include the target area, and the second cleaning trajectory includes the target area;

The control module 1606 is used to control the cleaning robot to perform the cleaning task based on the first cleaning trajectory and at least part of the second cleaning trajectory.

In an embodiment of the present application, a control device for a cleaning robot is proposed, which is used to control the cleaning robot to re-plan the cleaning trajectory of the cleaning robot when a living thing such as a human body is detected, so that the re-planned cleaning trajectory temporarily skips over areas where living things such as human bodies are located, and then re-sweeps the area. This enables the cleaning robot to intelligently identify areas where people are active, avoid such areas, and then re-sweep the areas where people are active, to ensure the integrity of the cleaning.

In an embodiment of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and plans a first cleaning trajectory of the cleaning robot based on the target area, and plans a second cleaning trajectory for re-sweeping the target area. Cleaning tasks are performed by two different cleaning trajectories, thereby ensuring that the cleaning robot will not affect the user's activities in the room during the cleaning process, and improving the efficiency of the cleaning robot in cleaning the room.

In the above embodiment, the control device 1600 of the cleaning robot further includes:

A determination module, used to determine a first sub-map of a target object in the semantic map according to the semantic map and image data of the cleaning robot;

The determination module is used to determine the area corresponding to the first sub-map as the target area.

In this embodiment, a specific process for determining a target area in a room is proposed, thereby improving the accuracy of the determined target area.

In an embodiment of the present application, the first sub-map in the semantic map is determined as the target area through image data, which can ensure the accuracy of identifying the target area and improve the convenience of subsequent planning of the cleaning trajectory of the cleaning robot.

In any of the above embodiments, the cleaning task includes a first cleaning task and a second cleaning task;

The control module 1606 is used to control the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions.

In this embodiment, after completing the first cleaning task, the cleaning robot continues to detect whether the target area meets the preset conditions. When it is detected that the target area meets the preset conditions, it determines that it can start executing the second cleaning task to re-sweep the target area, thereby ensuring that the cleaning robot will not affect the target object in the target area when performing the re-sweep.

In an embodiment of the present application, the cleaning robot can not only plan the corresponding first cleaning trajectory and the second cleaning trajectory based on the target area, but also determine whether it can start to re-scan the target area according to the second cleaning trajectory based on whether the target area meets the preset conditions, while ensuring the timeliness of the re-scanning and avoiding the impact of the re-scanning on the target object in the target area.

In any of the above embodiments, the first cleaning task includes: in a process where the cleaning robot drives along the first cleaning trajectory, based on the cleaning robot driving in a non-target area, controlling the cleaning component of the cleaning robot to operate;

The second cleaning task includes: in a process in which the cleaning robot drives along at least a portion of the second cleaning trajectory, based on the cleaning robot driving in the target area, controlling the cleaning components of the cleaning robot to operate.

In an embodiment of the present application, when the cleaning robot performs the first cleaning task and the second cleaning task, the cleaning robot cleans the area that needs to be cleaned and avoids the area that does not need to be cleaned, trying to ensure that it does not pass through the area that does not need to be cleaned. If the area that does not need to be cleaned cannot be avoided, the operation of the cleaning component is stopped to reduce the impact on users in the target area. It can also ensure the cleaning effect of the non-target area after the cleaning robot performs the first cleaning task.

In any of the above embodiments, the determination module is used to determine the secondary cleaning area in the non-target area based on the first image captured by the cleaning robot during the execution of the first cleaning task, and the first image is an image of the non-target area;

The control device 1600 of the cleaning robot includes:

The updating module is used to update the second cleaning track based on the secondary cleaning area so that the second cleaning track includes the target area and the secondary cleaning area.

In this embodiment, it is proposed that when the cleaning robot performs the first cleaning task according to the first cleaning trajectory, it continuously collects the first image corresponding to the non-target area, and through the analysis of the first image, it can determine the secondary cleaning area that needs to be re-scanned in the non-target area after cleaning by the first cleaning trajectory. Then, based on the determined secondary cleaning area, the second cleaning trajectory is re-planned to ensure that when the cleaning robot performs cleaning according to the second cleaning trajectory, it can clean both the target area and the secondary cleaning area.

In an embodiment of the present application, the cleaning robot can continuously detect the secondary cleaning area in the non-target area passed by the first cleaning trajectory while cleaning according to the first cleaning trajectory, and can update the second cleaning trajectory based on the secondary cleaning area, further ensuring the cleaning effect of the cleaning robot when performing supplementary cleaning through the second cleaning trajectory.

In any of the above embodiments, the preset conditions include: the time after the first cleaning task is completed reaches a preset time; and/or the target object leaves the target area.

In an embodiment of the present application, the cleaning robot can accurately determine whether the cleaning robot can start re-sweeping according to the second cleaning trajectory by judging whether the time after the completion of the first cleaning task reaches a preset time and/or judging whether the target object has left the target area. This ensures that the cleaning robot can re-sweep the target area in a timely manner while avoiding the impact of inappropriate timing of the cleaning robot's re-sweeping on the user.

In any of the above embodiments, a determination module is used to determine a preset duration based on an area category corresponding to the target area in a semantic map of the cleaning robot, wherein the area category includes one of a kitchen area, a bedroom area, a living room area, a wash area, and an office area.

In this embodiment, the cleaning robot is able to determine the area category of the target area based on the semantic information of the target area in the semantic map, and accordingly determine the preset time interval for re-sweeping the target area, so that the preset time interval matches the current actual scene.

In an embodiment of the present application, after identifying the target area, the cleaning robot can determine the specific area category corresponding to the target area through the semantic map, and determine the preset duration of the corresponding interval based on the area category, to ensure that the re-sweeping process matches the actual application scenario of the cleaning robot.

In any of the above embodiments, the control device 1600 of the cleaning robot includes:

A recognition module for identifying target features in image data;

A determination module, used to determine a preset duration according to the posture and/or parameters of the target feature;

The target feature includes one of a door feature, a window feature, and a home appliance feature.

In this embodiment, it is proposed that the cleaning robot identifies the posture and/or parameters of the target feature in the image data, and searches for the corresponding preset time duration based on the posture and/or parameters.

In an embodiment of the present application, the cleaning robot can analyze the actual scene in which the cleaning robot is located through the posture and/or parameters of the target features in the collected image data, and set the preset duration of the corresponding interval accordingly, so as to ensure the success rate of the cleaning robot when performing the second cleaning task of make-up sweeping, and avoid the make-up sweeping process from having an adverse effect on users in the target area.

In any of the above embodiments, the control device 1600 of the cleaning robot includes:

An acquisition module, used for acquiring a second image corresponding to the target area;

The determination module is used to determine whether the target object leaves the target area based on the second image.

In this embodiment, it is proposed that before the cleaning robot performs supplementary scanning along the second cleaning trajectory, the image acquisition device captures a second image corresponding to the target area, performs image recognition on the second image, and determines whether the target object leaves the target area, thereby achieving accurate control of whether the cleaning robot starts to perform supplementary scanning.

In any of the above embodiments, the control module 1606 is used to control the image acquisition device of the cleaning robot to continuously acquire image data when the cleaning robot performs the third cleaning task according to the third cleaning trajectory.

In this embodiment, it is proposed that when the cleaning robot performs the corresponding third cleaning task according to the preset third cleaning trajectory after leaving the station, the image acquisition device is turned on to continuously acquire image data, so as to facilitate the subsequent re-planning of the corresponding first cleaning trajectory and the second cleaning trajectory for supplementary cleaning based on the acquired image data including the target object.

In the embodiment of the present application, by controlling the cleaning robot to keep the image acquisition device turned on after leaving the station, the cleaning robot can obtain the current surrounding environment in a timely manner, thereby improving the efficiency of re-planning the first cleaning trajectory.

In one embodiment of the present application, as shown in FIG. 17 , a control device 1700 of a cleaning robot is provided, comprising:

An acquisition module 1702 is used to acquire a target area, where a target object is located, and the target object is included in the image data collected by the cleaning robot;

A control module 1704 is used to control the cleaning robot to clean according to a first cleaning trajectory based on the target area, and the first cleaning trajectory does not include the target area;

The control module 1704 is used to control the cleaning robot to clean according to a second cleaning trajectory when the cleaning robot completes at least part of the first cleaning trajectory, and the second cleaning trajectory includes a target area. In the embodiment of the present application, a control method for a cleaning robot is proposed, which is used to control the cleaning robot to re-plan the first cleaning trajectory and the second cleaning trajectory of the cleaning robot when a living thing such as a human body is detected. Among them, the first cleaning trajectory temporarily skips the target area where the human body and other living things are located, and after at least part of the first cleaning trajectory is completed, the cleaning is performed according to the second cleaning trajectory including the target area to complete the re-scanning of the target area, so that the cleaning robot can intelligently identify the target area where people are active, avoid the target area, and then re-scan the target area where people are active to ensure the integrity of the cleaning.

In this embodiment, the cleaning robot includes an image acquisition device. When the cleaning robot is driving, the image acquisition device is turned on to shoot the scene around the cleaning robot, and semantic recognition is performed on the captured image data. When the target object is identified in the image data, the cleaning robot determines the target area where the target object is located. The target object includes a human body, a pet, etc. The target area includes each room in the house.

Specifically, the first cleaning trajectory is the driving trajectory of the cleaning robot to clean the non-target area, and the first cleaning trajectory is used to clean other areas except the target area. The second cleaning trajectory is the driving trajectory of the cleaning robot to clean the target area.

In an embodiment of the present application, the cleaning robot detects the target object and the target area where the target object is located by image recognition during driving, and preferentially cleans the non-target area through the first cleaning trajectory. After completing at least part of the cleaning along the first cleaning trajectory, it then performs cleaning based on the second cleaning trajectory.

The first cleaning trajectory of the cleaning robot is planned based on the target area, and a second cleaning trajectory for supplementary cleaning of the target area is planned. The cleaning task is performed by two different cleaning trajectories, ensuring that the cleaning robot will not affect the activities of the user in the room during the cleaning task, and improving the cleaning efficiency of the cleaning robot in cleaning the room. In one embodiment of the present application, as shown in FIG18 , a control device 1800 of a cleaning robot is proposed, including:

A determination module 1802 is used to determine a first area of the target object in the map when the image data collected by the cleaning robot includes the target object;

An acquisition module 1804 is used to acquire the operating status of the target device corresponding to the first area;

The control module 1806 is used to control the cleaning robot to clean the first area based on the operating state of the target device after the cleaning robot completes cleaning the second area in the map.

In the embodiment of the present application, a control device for a cleaning robot is proposed, through which the cleaning robot can be controlled to identify the first area where the target object is located, and re-plan the current cleaning trajectory, so that the cleaning robot temporarily avoids the first area where the target object is active, and plans the subsequent re-sweeping path for the first area. The cleaning robot can also interact with other household devices to identify the activity status of the user in the first area, so as to choose whether to start re-sweeping the first area, so as to avoid the cleaning robot still having an adverse effect on the user during the re-sweeping.

In an embodiment of the present application, the cleaning robot detects the target object through image recognition during driving, and determines the first area corresponding to the area where the target object is located, and determines whether to start re-scanning the first area through the operating status of the target device in the first area, so that the cleaning robot can judge and estimate the current operating scenario through the Internet of Things, and achieves the cleaning robot being able to avoid the area where the first area is located during the current cleaning stage, thereby preventing the current cleaning process from affecting the user, and can also perform timely re-scanning of the uncleaned areas later, and can ensure that the re-scanning stage will not have an adverse effect on the user's activities.

In any of the above embodiments, the determination module 1802 is used to determine the preset duration based on the operating state of the target device;

The control module 1806 is used to control the cleaning robot to clean the first area at a target time interval after the cleaning robot completes cleaning the second area. The target time interval is associated with the preset time interval and the cleaning time interval. The cleaning time interval is the time interval for the cleaning robot to clean the second area.

In this embodiment, it is proposed that the cleaning robot can determine the target duration of the interval between the current cleaning phase and the re-sweeping phase according to the operating status of the target device in the first area, while ensuring the timeliness of the re-sweeping of the first area, it can also avoid the re-sweeping phase from affecting the activities of the target object in the first area.

In an embodiment of the present application, a plurality of first devices in the map are screened through the first area in the map to determine the target device therein, thereby ensuring the matching of the target device with the first area. After determining the target device, the cleaning robot communicates with the target device to determine the operating status of the target device. The corresponding preset duration is determined according to the operating status, and the target duration is set in combination with the cleaning duration of the cleaning robot to clean the second area, thereby improving the matching degree between the target duration determined for the supplementary cleaning and the operating status of the target device corresponding to the first area, and ensuring that the cleaning robot supplements the cleaning of the first area after the target duration is separated, without affecting the user.

In any of the above embodiments, the control device 1800 of the cleaning robot further includes:

A positioning module, used for positioning a plurality of first devices matching the map;

A screening module, used for screening a target device from a plurality of first devices through a first area;

The acquisition module 1804 is used to acquire the operating status of the target device;

The determination module 1802 is used to determine the preset duration according to the operating state of the target device and the preset correspondence.

This embodiment proposes a specific process of searching for a corresponding target device based on a map and setting a preset duration based on the operating status of the target device.

In the embodiment of the present application, a plurality of first devices in the map are screened through the first area in the map, thereby determining the target device therein, and ensuring the matching of the target device with the first area. After determining the target device, the cleaning robot communicates with the target device to determine the operating status of the target device, and sets a preset duration accordingly, thereby improving the matching degree between the preset duration determined for the supplementary sweep and the operating status of the target device corresponding to the first area, and ensuring that the cleaning robot supplements the sweep of the first area after the preset duration, without affecting the user.

In any of the above embodiments, the number of target devices is at least two;

The acquisition module 1804 is used to acquire the operation status of at least two target devices and a preset corresponding relationship, and determine at least two interval durations;

The determination module 1802 is used to determine a preset duration according to at least two interval durations.

In this embodiment, when a plurality of target devices are included in the first area, the cleaning robot sets corresponding preset durations according to a plurality of interval durations corresponding to the plurality of target devices, thereby further improving the degree of matching between the set preset duration and the actual scene.

In an embodiment of the present application, when there are multiple target devices corresponding to the first area, the cleaning robot can comprehensively determine the corresponding preset time length according to the multiple target devices, thereby further improving the matching degree between the preset time length and the actual scene of the first area.

In any of the above embodiments, the preset duration is an average value of at least two interval durations; or the preset duration is a maximum value of at least two interval durations; or the preset duration is a minimum value of at least two interval durations.

In this embodiment, multiple methods are proposed to determine the preset duration based on multiple interval durations. This includes calculating the average value of multiple interval durations and using the calculated average value as the preset duration. This also includes taking the maximum or minimum value among the multiple interval durations and using the maximum or minimum value as the preset duration.

In an embodiment of the present application, by setting the preset duration to the maximum value, minimum value or average value among multiple interval durations, it can further ensure that the preset duration matches the actual scene of the area corresponding to the first area, thereby ensuring the timeliness of re-scanning the area while avoiding adverse effects on the user during the re-scanning.

In any of the above embodiments, the determination module 1802 is used to determine the activity state of the target object in the first area based on the operating state of the target device after the cleaning robot completes cleaning the second area;

The control module 1806 is configured to control the cleaning robot to clean the first area based on the activity state of the target object in the first area meeting a preset condition.

In this embodiment, after the cleaning robot completes cleaning the second area, it continuously obtains the operating status of the target device in the first area, and determines whether the current supplementary sweep will have an impact on the target object in the first area. If the cleaning robot determines that the supplementary sweep will not affect the target object at this time, the cleaning robot is controlled to start supplementary sweeping of the first area.

In an embodiment of the present application, the cleaning robot can judge the activity state of the target object according to the operating state of the target device, and judge whether to start re-sweeping the first area accordingly, so that the cleaning robot can quickly re-sweep the first area after the target object leaves the first area, thereby ensuring the timeliness of the re-sweeping and avoiding the impact of the re-sweeping on the target object in the first area.

In any of the above embodiments, the control device 1800 of the cleaning robot includes:

A planning module, configured to plan a fourth cleaning trajectory based on the second area;

The control module 1806 is used to control the cleaning robot to clean according to the fourth cleaning trajectory.

This embodiment provides a specific process of the cleaning robot cleaning the second area, including planning a fourth cleaning track according to the second area in the map, driving the cleaning robot to travel along the planned fourth cleaning track, and the operating state of the cleaning component of the cleaning robot during the driving process, ensuring that the cleaning component is turned off when the cleaning robot passes through the first area to avoid affecting the user's activities in the first area.

In an embodiment of the present application, when the cleaning robot passes through the second area, the cleaning component is kept in an on state to ensure that the cleaning robot can normally clean the second area in the house.

In any of the above embodiments, the control module 1806 is used for the fourth cleaning trajectory including the first area and the second area, and when the cleaning robot travels in the first area, the cleaning component of the cleaning robot is controlled to stop running, and when the cleaning robot travels in the second area, the cleaning component is controlled to run;

The control module 1806 is used to control the cleaning robot to keep the cleaning component in operation during the process of driving along the fourth cleaning trajectory, when the fourth cleaning trajectory includes the second area but does not include the first area.

In this embodiment, it is proposed that when the fourth cleaning trajectory planned by the cleaning robot passes through the first area and the second area, the cleaning robot turns off the cleaning component when driving in the first area, and only uses the cleaning component to clean the second area. The fourth cleaning trajectory planned by the cleaning robot only passes through the second area, and when the cleaning robot cleans according to the fourth cleaning trajectory, the cleaning component is kept running, so as to clean the second area.

In an embodiment of the present application, the cleaning robot cleans the second area and avoids the location of the first area, trying not to pass through the first area. If the first area cannot be avoided, the cleaning component is stopped to reduce the impact on users in the first area while ensuring the cleaning effect of the cleaning robot on the second area.

In any of the above embodiments, the target device includes at least one of an electric rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, a hair dryer, and a washing machine.

In this embodiment, it is proposed that the target device includes: at least one of an electric rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, a hair dryer, and a washing machine, that is, all smart IoT home devices can be used as target devices to communicate with the cleaning robot.

In an embodiment of the present application, by setting different types of devices as target devices, the accuracy of the preset time determined by the target device can be improved, ensuring that after the preset time for cleaning the second area is completed, when the first area is cleaned, it will not affect the activities of people in the first area.

In any of the above embodiments, the planning module is used to plan a fifth cleaning trajectory based on the map;

A control module 1806, used to control the cleaning robot to clean according to a fifth cleaning trajectory;

The control module 1806 is used to control the image acquisition device of the cleaning robot to continuously acquire image data during the cleaning process of the cleaning robot.

In this embodiment, it is proposed that when the cleaning robot cleans according to the preset fifth cleaning trajectory after leaving the station, the image acquisition device is turned on to continuously acquire image data, so as to facilitate the subsequent re-planning of the corresponding fourth cleaning trajectory and the fifth cleaning trajectory for supplementary cleaning based on the acquired image data including the target object.

In the embodiment of the present application, by controlling the cleaning robot to keep the image acquisition device turned on after leaving the station, the cleaning robot can obtain the current surrounding environment in a timely manner, thereby improving the efficiency of re-planning the fourth cleaning trajectory.

In any of the above embodiments, the acquisition module 1804 is used to acquire the location information of the second device in the map, where the second device is a household device in operation;

The planning module is used to plan the fifth cleaning trajectory according to the positioning information.

In this embodiment, it is proposed that the cleaning robot plans the fifth cleaning trajectory based on the positioning information of the household appliances in operation in the map before leaving the station, so that the operating status of the household appliances in the house is fully considered before cleaning begins, thereby reducing the number of times the cleaning robot replans the path after leaving the station.

In an embodiment of the present application, the cleaning robot plans the fifth cleaning trajectory through the positioning information of the second device in operation without leaving the station, thereby reducing the possibility of the cleaning robot replanning the path during the cleaning process.

In any of the above embodiments, the map includes any of the following: a semantic map, an image map.

In this embodiment, the map stored in the sweeping machine may be a semantic map or an image map.

In an embodiment of the present application, by setting the map as a semantic map or an image map, the accuracy of the cleaning trajectory automatically planned by the sweeping machine can be improved, thereby ensuring the cleaning effect and cleaning efficiency of the sweeping machine when cleaning the house based on the map.

In one embodiment of the present application, as shown in Figure 19, a control device 1900 for a cleaning robot is proposed, including: a processor 1902 and a memory 1904, in which programs or instructions are stored; the processor 1902 executes the program or instructions stored in the memory 1904 to implement the steps of the control method for the cleaning robot in any of the above embodiments, and thus has all the beneficial technical effects of the control method for the cleaning robot in any of the above embodiments, which will not be elaborated herein.

In one embodiment of the present application, a computer program product is proposed. When the computer program product is executed by a processor, it implements the steps of the control method of the cleaning robot in any of the above embodiments, and thus has all the beneficial technical effects of the control method of the cleaning robot in any of the above embodiments, which will not be elaborated herein.

In one embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method of the cleaning robot in any of the above embodiments are implemented. Therefore, all the beneficial technical effects of the control method of the cleaning robot in any of the above embodiments are achieved, and no further elaboration is made here.

In one embodiment according to the present application, as shown in Figure 20, a cleaning robot 2000 is proposed, including: a control device 1900 of the cleaning robot as in any of the above embodiments, and/or a computer program product 2002 in any of the above embodiments, and/or a readable storage medium 2004 in any of the above embodiments, and thus has all the beneficial technical effects of the control device 1900 of the cleaning robot in any of the above embodiments, and/or the computer program product 2002 in any of the above embodiments, and/or the readable storage medium 2004 in any of the above embodiments, and no further details will be given here.

It should be clarified that in the claims, specification and drawings of the present application, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present application and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present application; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

In the claims, specification and drawings of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiment or example of the present application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (31)

A control method for a cleaning robot, comprising: Acquire a target area, a target object is in the target area, and the target object is included in the image data collected by the cleaning robot; Based on the target area, planning a first cleaning trajectory and a second cleaning trajectory, wherein the first cleaning trajectory does not include the target area, and the second cleaning trajectory includes the target area; Based on the first cleaning trajectory and at least a portion of the second cleaning trajectory, the cleaning robot is controlled to perform a cleaning task. A control method for a cleaning robot, comprising: Acquire a target area, a target object is in the target area, and the target object is included in the image data collected by the cleaning robot; Based on the target area, controlling the cleaning robot to clean according to a first cleaning trajectory, wherein the first cleaning trajectory does not include the target area; When the cleaning robot completes at least a portion of the first cleaning trajectory, the cleaning robot is controlled to clean according to a second cleaning trajectory, where the second cleaning trajectory includes the target area. The control method of the cleaning robot according to claim 1 or 2, wherein the acquiring the target area comprises: Determine a first sub-map of the target object in the semantic map according to the semantic map of the cleaning robot and the image data; The area corresponding to the first sub-map is determined as the target area. The control method of the cleaning robot according to claim 1, wherein the cleaning task comprises a first cleaning task and a second cleaning task; The controlling the cleaning robot to perform a cleaning task based on the first cleaning trajectory and at least a portion of the second cleaning trajectory includes: When the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets a preset condition, the cleaning robot is controlled to perform the second cleaning task according to at least a part of the second cleaning trajectory. The control method of the cleaning robot according to claim 4, wherein the first cleaning task comprises: During the driving of the cleaning robot along the first cleaning trajectory, based on the driving of the cleaning robot in a non-target area, the cleaning component of the cleaning robot is controlled to operate; the second cleaning task includes: During the process in which the cleaning robot drives along at least a portion of the second cleaning trajectory, based on the cleaning robot driving in the target area, the cleaning components of the cleaning robot are controlled to operate. The control method of the cleaning robot according to claim 4, wherein, after the cleaning robot completes the first cleaning task according to the first cleaning trajectory, it further comprises: determining a secondary cleaning area in a non-target area according to a first image captured by the cleaning robot during the execution of the first cleaning task, wherein the first image is an image of the non-target area; Based on the secondary cleaning area, the second cleaning trajectory is updated so that the second cleaning trajectory includes the target area and the secondary cleaning area. The control method of the cleaning robot according to any one of claims 4 to 6, wherein the preset condition comprises: The time after the first cleaning task is completed reaches a preset time; and/or The target object leaves the target area. The control method of the cleaning robot according to claim 7, wherein, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: The preset duration is determined based on an area category corresponding to the target area in the semantic map of the cleaning robot, where the area category includes one of a kitchen area, a bedroom area, a living room area, a wash area, and an office area. The control method of the cleaning robot according to claim 7, wherein, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: identifying target features in the image data; The preset duration is determined according to the posture and/or parameter of the target feature, wherein the target feature includes one of a door feature, a window feature, and a home appliance feature. The control method of the cleaning robot according to claim 7, wherein, when the cleaning robot completes the first cleaning task according to the first cleaning trajectory and the target area meets the preset conditions, before controlling the cleaning robot to perform the second cleaning task according to at least part of the second cleaning trajectory, it also includes: A second image corresponding to the target area is acquired, and based on the second image, it is determined whether the target object has left the target area. The control method of the cleaning robot according to any one of claims 1 to 10, wherein before acquiring the target area, it comprises: When the cleaning robot performs the third cleaning task according to the third cleaning trajectory, the image acquisition device of the cleaning robot is controlled to continuously acquire the image data. A control method for a cleaning robot, comprising: In a case where the image data collected by the cleaning robot includes a target object, determining a first area of the target object in the map; Acquire the operating status of the target device corresponding to the first area; After the cleaning robot completes cleaning the second area in the map, the cleaning robot is controlled to clean the first area based on the operating state of the target device. The control method of the cleaning robot according to claim 12, wherein, after the cleaning robot completes cleaning the second area in the map, based on the operating state of the target device, controlling the cleaning robot to clean the first area comprises: Determining a preset duration based on the operating status of the target device; After the cleaning robot completes cleaning the second area, the cleaning robot is controlled to clean the first area at a target time interval, where the target time is associated with the preset time and the cleaning time, and the cleaning time is the time the cleaning robot takes to clean the second area. The control method of the cleaning robot according to claim 13, wherein after the cleaning robot completes cleaning the second area, before controlling the cleaning robot to clean the first area for a target time period, comprises: When the cleaning time is greater than or equal to the preset time, the target time is determined to be 0; When the cleaning time is shorter than the preset time, the difference between the preset time and the cleaning time is determined as the target time. The control method of the cleaning robot according to claim 13, wherein the determining of the preset duration based on the operating state of the target device comprises: locating a plurality of first devices matching the map; Filtering a target device from among the plurality of first devices through the first area; Obtaining the operating status of the target device; The preset duration is determined according to the operating state of the target device and the preset corresponding relationship. The control method of the cleaning robot according to claim 15, wherein the number of the target devices is at least two; The determining the preset duration according to the operating state of the target device and the preset corresponding relationship includes: Obtaining the operating status of at least two of the target devices and the preset corresponding relationship, and determining at least two interval durations; The preset duration is determined according to the at least two interval durations. The control method of the cleaning robot according to claim 16, wherein the preset duration is an average value of the at least two interval durations; or The preset duration is the maximum value of the at least two interval durations; or The preset duration is the minimum value of the at least two interval durations. The control method of the cleaning robot according to claim 12, wherein, after the cleaning robot completes cleaning the second area in the map, based on the operating state of the target device, controlling the cleaning robot to clean the first area comprises: After the cleaning robot completes cleaning the second area, determining the activity state of the target object in the first area based on the operating state of the target device; Based on the activity state of the target object in the first area meeting a preset condition, the cleaning robot is controlled to clean the first area. The control method of the cleaning robot according to any one of claims 12 to 18, wherein after the cleaning robot completes cleaning the second area in the map, before controlling the cleaning robot to clean the first area based on the operating state of the target device, comprises: planning a fourth cleaning trajectory based on the second area; The cleaning robot is controlled to perform cleaning according to the fourth cleaning trajectory. The control method of the cleaning robot according to claim 19, wherein the controlling the cleaning robot to clean according to the fourth cleaning trajectory comprises: The fourth cleaning track includes the first area and the second area, and when the cleaning robot travels in the first area, the cleaning component of the cleaning robot is controlled to stop running, and when the cleaning robot travels in the second area, the cleaning component is controlled to run; The fourth cleaning trajectory includes the second area but does not include the first area, and the cleaning component is kept in an operating state during the process of controlling the cleaning robot to travel along the fourth cleaning trajectory. The control method of the cleaning robot according to any one of claims 12 to 18, wherein the target device includes at least one of an electric rice cooker, a water heater, an air conditioner, an electric curtain, a television, a water dispenser, a hair dryer, and a washing machine. The control method of the cleaning robot according to any one of claims 12 to 18, wherein, when the image data collected by the cleaning robot includes a target object, determining that the target object is before the first area in the map comprises: Based on the map, planning a fifth cleaning trajectory; Controlling the cleaning robot to clean according to the fifth cleaning trajectory; During the cleaning process of the cleaning robot, the image acquisition device of the cleaning robot is controlled to continuously acquire the image data. The control method of the cleaning robot according to claim 22, wherein planning the fifth cleaning trajectory based on the map comprises: Acquire positioning information of a second device in the map, where the second device is a home device in operation; The fifth cleaning trajectory is planned according to the positioning information. The control method of the cleaning robot according to any one of claims 12 to 18, wherein the map comprises any one of the following: a semantic map, an image map. A control device for a cleaning robot, comprising: An acquisition module, used for acquiring a target area, a target object is located in the target area, and the target object is included in the image data collected by the cleaning robot; A planning module, configured to plan a first cleaning trajectory and a second cleaning trajectory based on the target area, wherein the first cleaning trajectory does not include the target area, and the second cleaning trajectory includes the target area; A control module is used to control the cleaning robot to perform a cleaning task based on the first cleaning trajectory and at least a part of the second cleaning trajectory. A control device for a cleaning robot, comprising: An acquisition module, used for acquiring a target area, a target object is located in the target area, and the target object is included in the image data collected by the cleaning robot; A control module, configured to control the cleaning robot to clean according to a first cleaning trajectory based on the target area, wherein the first cleaning trajectory does not include the target area; A control module is used to control the cleaning robot to clean according to a second cleaning trajectory when the cleaning robot completes at least a part of the first cleaning trajectory, and the second cleaning trajectory includes the target area. A control device for a cleaning robot, comprising: a determination module, configured to determine a first area of the target object in the map when the image data collected by the cleaning robot includes the target object; An acquisition module, used for acquiring the operating status of a target device corresponding to the first area; A control module is used to control the cleaning robot to clean the first area based on the operating state of the target device after the cleaning robot completes cleaning the second area in the map. A control device for a cleaning robot, comprising: A memory on which programs or instructions are stored; A processor, used to implement the steps of the control method of the cleaning robot as described in any one of claims 1 to 24 when executing the program or instructions. A computer program product, wherein when the computer program product is executed by a processor, the steps of the control method of the cleaning robot according to any one of claims 1 to 24 are implemented. A readable storage medium having a program or instruction stored thereon, wherein the program or instruction, when executed by a processor, implements the steps of the control method of the cleaning robot as described in any one of claims 1 to 24. A cleaning robot, comprising: The control device of the cleaning robot according to any one of claims 25 to 28; and/or A computer program product as claimed in claim 29; and/or The readable storage medium of claim 30.